diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript new file mode 100644 index 0000000..666763d --- /dev/null +++ b/selfdrive/boardd/SConscript @@ -0,0 +1,11 @@ +Import('env', 'envCython', 'common', 'cereal', 'messaging') + +libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] +panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) + +env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) +env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) + +envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +if GetOption('extras'): + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd deleted file mode 100755 index 0b23fed..0000000 Binary files a/selfdrive/boardd/boardd and /dev/null differ diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc new file mode 100644 index 0000000..c4db1ea --- /dev/null +++ b/selfdrive/boardd/boardd.cc @@ -0,0 +1,599 @@ +#include "selfdrive/boardd/boardd.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "cereal/gen/cpp/car.capnp.h" +#include "cereal/messaging/messaging.h" +#include "common/params.h" +#include "common/ratekeeper.h" +#include "common/swaglog.h" +#include "common/timing.h" +#include "common/util.h" +#include "system/hardware/hw.h" + +// -- Multi-panda conventions -- +// Ordering: +// - The internal panda will always be the first panda +// - Consecutive pandas will be sorted based on panda type, and then serial number +// Connecting: +// - If a panda connection is dropped, boardd will reconnect to all pandas +// - If a panda is added, we will only reconnect when we are offroad +// CAN buses: +// - Each panda will have it's block of 4 buses. E.g.: the second panda will use +// bus numbers 4, 5, 6 and 7 +// - The internal panda will always be used for accessing the OBD2 port, +// and thus firmware queries +// Safety: +// - SafetyConfig is a list, which is mapped to the connected pandas +// - If there are more pandas connected than there are SafetyConfigs, +// the excess pandas will remain in "silent" or "noOutput" mode +// Ignition: +// - If any of the ignition sources in any panda is high, ignition is high + +#define MAX_IR_POWER 0.5f +#define MIN_IR_POWER 0.0f +#define CUTOFF_IL 400 +#define SATURATE_IL 1000 +using namespace std::chrono_literals; + +std::atomic ignition(false); + +ExitHandler do_exit; + +bool check_all_connected(const std::vector &pandas) { + for (const auto& panda : pandas) { + if (!panda->connected()) { + do_exit = true; + return false; + } + } + return true; +} + +bool safety_setter_thread(std::vector pandas) { + LOGD("Starting safety setter thread"); + + Params p; + + // there should be at least one panda connected + if (pandas.size() == 0) { + return false; + } + + // initialize to ELM327 without OBD multiplexing for fingerprinting + bool obd_multiplexing_enabled = false; + for (int i = 0; i < pandas.size(); i++) { + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); + } + + // openpilot can switch between multiplexing modes for different FW queries + while (true) { + if (do_exit || !check_all_connected(pandas) || !ignition) { + return false; + } + + bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); + if (obd_multiplexing_requested != obd_multiplexing_enabled) { + for (int i = 0; i < pandas.size(); i++) { + const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + } + obd_multiplexing_enabled = obd_multiplexing_requested; + p.putBool("ObdMultiplexingChanged", true); + } + + if (p.getBool("FirmwareQueryDone")) { + LOGW("finished FW query"); + break; + } + util::sleep_for(20); + } + + std::string params; + LOGW("waiting for params to set safety model"); + while (true) { + if (do_exit || !check_all_connected(pandas) || !ignition) { + return false; + } + + if (p.getBool("ControlsReady")) { + params = p.get("CarParams"); + if (params.size() > 0) break; + } + util::sleep_for(100); + } + LOGW("got %lu bytes CarParams", params.size()); + + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size())); + cereal::CarParams::Reader car_params = cmsg.getRoot(); + cereal::CarParams::SafetyModel safety_model; + uint16_t safety_param; + + auto safety_configs = car_params.getSafetyConfigs(); + uint16_t alternative_experience = car_params.getAlternativeExperience(); + for (uint32_t i = 0; i < pandas.size(); i++) { + auto panda = pandas[i]; + + if (safety_configs.size() > i) { + safety_model = safety_configs[i].getSafetyModel(); + safety_param = safety_configs[i].getSafetyParam(); + } else { + // If no safety mode is specified, default to silent + safety_model = cereal::CarParams::SafetyModel::SILENT; + safety_param = 0U; + } + + LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience); + panda->set_alternative_experience(alternative_experience); + panda->set_safety_model(safety_model, safety_param); + } + + return true; +} + +Panda *connect(std::string serial="", uint32_t index=0) { + std::unique_ptr panda; + try { + panda = std::make_unique(serial, (index * PANDA_BUS_CNT)); + } catch (std::exception &e) { + return nullptr; + } + + // common panda config + if (getenv("BOARDD_LOOPBACK")) { + panda->set_loopback(true); + } + //panda->enable_deepsleep(); + + if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) { + throw std::runtime_error("Panda firmware out of date. Run pandad.py to update."); + } + + return panda.release(); +} + +void can_send_thread(std::vector pandas, bool fake_send) { + util::set_thread_name("boardd_can_send"); + + AlignedBuffer aligned_buf; + std::unique_ptr context(Context::create()); + std::unique_ptr subscriber(SubSocket::create(context.get(), "sendcan")); + assert(subscriber != NULL); + subscriber->setTimeout(100); + + // run as fast as messages come in + while (!do_exit && check_all_connected(pandas)) { + std::unique_ptr msg(subscriber->receive()); + if (!msg) { + if (errno == EINTR) { + do_exit = true; + } + continue; + } + + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); + cereal::Event::Reader event = cmsg.getRoot(); + + // Don't send if older than 1 second + if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { + for (const auto& panda : pandas) { + LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); + panda->can_send(event.getSendcan()); + LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); + } + } else { + LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime()); + } + } +} + +void can_recv_thread(std::vector pandas) { + util::set_thread_name("boardd_can_recv"); + + PubMaster pm({"can"}); + + // run at 100Hz + RateKeeper rk("boardd_can_recv", 100); + std::vector raw_can_data; + + while (!do_exit && check_all_connected(pandas)) { + bool comms_healthy = true; + raw_can_data.clear(); + for (const auto& panda : pandas) { + comms_healthy &= panda->can_receive(raw_can_data); + } + + MessageBuilder msg; + auto evt = msg.initEvent(); + evt.setValid(comms_healthy); + auto canData = evt.initCan(raw_can_data.size()); + for (uint i = 0; i send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { + bool ignition_local = false; + const uint32_t pandas_cnt = pandas.size(); + + // build msg + MessageBuilder msg; + auto evt = msg.initEvent(); + auto pss = evt.initPandaStates(pandas_cnt); + + std::vector pandaStates; + pandaStates.reserve(pandas_cnt); + + std::vector> pandaCanStates; + pandaCanStates.reserve(pandas_cnt); + + const bool red_panda_comma_three = (pandas.size() == 2) && + (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) && + (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA); + + for (const auto& panda : pandas){ + auto health_opt = panda->get_state(); + if (!health_opt) { + return std::nullopt; + } + + health_t health = *health_opt; + + std::array can_health{}; + for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { + auto can_health_opt = panda->get_can_state(i); + if (!can_health_opt) { + return std::nullopt; + } + can_health[i] = *can_health_opt; + } + pandaCanStates.push_back(can_health); + + if (spoofing_started) { + health.ignition_line_pkt = 1; + } + + // on comma three setups with a red panda, the dos can + // get false positive ignitions due to the harness box + // without a harness connector, so ignore it + if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) { + health.ignition_line_pkt = 0; + } + + ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)); + + pandaStates.push_back(health); + } + + for (uint32_t i = 0; i < pandas_cnt; i++) { + auto panda = pandas[i]; + const auto &health = pandaStates[i]; + + // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node + if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) { + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); + } + + bool power_save_desired = !ignition_local; + if (health.power_save_enabled_pkt != power_save_desired) { + panda->set_power_saving(power_save_desired); + } + + // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect + if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { + panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); + } + + if (!panda->comms_healthy()) { + evt.setValid(false); + } + + auto ps = pss[i]; + ps.setVoltage(health.voltage_pkt); + ps.setCurrent(health.current_pkt); + ps.setUptime(health.uptime_pkt); + ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); + ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); + ps.setIgnitionLine(health.ignition_line_pkt); + ps.setIgnitionCan(health.ignition_can_pkt); + ps.setControlsAllowed(health.controls_allowed_pkt); + ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); + ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); + ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); + ps.setPandaType(panda->hw_type); + ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); + ps.setSafetyParam(health.safety_param_pkt); + ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt)); + ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt)); + ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt)); + ps.setAlternativeExperience(health.alternative_experience_pkt); + ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); + ps.setInterruptLoad(health.interrupt_load_pkt); + ps.setFanPower(health.fan_power); + ps.setFanStallCount(health.fan_stall_count); + ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt)); + ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt); + ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); + ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); + + std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; + + for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { + const auto &can_health = pandaCanStates[i][j]; + cs[j].setBusOff((bool)can_health.bus_off); + cs[j].setBusOffCnt(can_health.bus_off_cnt); + cs[j].setErrorWarning((bool)can_health.error_warning); + cs[j].setErrorPassive((bool)can_health.error_passive); + cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error)); + cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error)); + cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error)); + cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error)); + cs[j].setReceiveErrorCnt(can_health.receive_error_cnt); + cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt); + cs[j].setTotalErrorCnt(can_health.total_error_cnt); + cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt); + cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt); + cs[j].setTotalTxCnt(can_health.total_tx_cnt); + cs[j].setTotalRxCnt(can_health.total_rx_cnt); + cs[j].setTotalFwdCnt(can_health.total_fwd_cnt); + cs[j].setCanSpeed(can_health.can_speed); + cs[j].setCanDataSpeed(can_health.can_data_speed); + cs[j].setCanfdEnabled(can_health.canfd_enabled); + cs[j].setBrsEnabled(can_health.brs_enabled); + cs[j].setCanfdNonIso(can_health.canfd_non_iso); + cs[j].setIrq0CallRate(can_health.irq0_call_rate); + cs[j].setIrq1CallRate(can_health.irq1_call_rate); + cs[j].setIrq2CallRate(can_health.irq2_call_rate); + cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt); + } + + // Convert faults bitset to capnp list + std::bitset fault_bits(health.faults_pkt); + auto faults = ps.initFaults(fault_bits.count()); + + size_t j = 0; + for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); + f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) { + if (fault_bits.test(f)) { + faults.set(j, cereal::PandaState::FaultType(f)); + j++; + } + } + } + + pm->send("pandaStates", msg); + return ignition_local; +} + +void send_peripheral_state(PubMaster *pm, Panda *panda) { + // build msg + MessageBuilder msg; + auto evt = msg.initEvent(); + evt.setValid(panda->comms_healthy()); + + auto ps = evt.initPeripheralState(); + ps.setPandaType(panda->hw_type); + + double read_time = millis_since_boot(); + ps.setVoltage(Hardware::get_voltage()); + ps.setCurrent(Hardware::get_current()); + read_time = millis_since_boot() - read_time; + if (read_time > 50) { + LOGW("reading hwmon took %lfms", read_time); + } + + uint16_t fan_speed_rpm = panda->get_fan_speed(); + ps.setFanSpeedRpm(fan_speed_rpm); + + pm->send("peripheralState", msg); +} + +void panda_state_thread(std::vector pandas, bool spoofing_started) { + util::set_thread_name("boardd_panda_state"); + + Params params; + SubMaster sm({"controlsState"}); + PubMaster pm({"pandaStates", "peripheralState"}); + + Panda *peripheral_panda = pandas[0]; + bool is_onroad = false; + bool is_onroad_last = false; + std::future safety_future; + + std::vector connected_serials; + for (Panda *p : pandas) { + connected_serials.push_back(p->hw_serial()); + } + + LOGD("start panda state thread"); + + // run at 10hz + RateKeeper rk("panda_state_thread", 10); + + while (!do_exit && check_all_connected(pandas)) { + // send out peripheralState at 2Hz + if (sm.frame % 5 == 0) { + send_peripheral_state(&pm, peripheral_panda); + } + + auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); + + if (!ignition_opt) { + LOGE("Failed to get ignition_opt"); + rk.keepTime(); + continue; + } + + ignition = *ignition_opt; + + // check if we should have pandad reconnect + if (!ignition) { + bool comms_healthy = true; + for (const auto &panda : pandas) { + comms_healthy &= panda->comms_healthy(); + } + + if (!comms_healthy) { + LOGE("Reconnecting, communication to pandas not healthy"); + do_exit = true; + + } else { + // check for new pandas + for (std::string &s : Panda::list(true)) { + if (!std::count(connected_serials.begin(), connected_serials.end(), s)) { + LOGW("Reconnecting to new panda: %s", s.c_str()); + do_exit = true; + break; + } + } + } + + if (do_exit) { + break; + } + } + + is_onroad = params.getBool("IsOnroad"); + + // set new safety on onroad transition, after params are cleared + if (is_onroad && !is_onroad_last) { + if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) { + safety_future = std::async(std::launch::async, safety_setter_thread, pandas); + } else { + LOGW("Safety setter thread already running"); + } + } + + is_onroad_last = is_onroad; + + sm.update(0); + const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); + + for (const auto &panda : pandas) { + panda->send_heartbeat(engaged); + } + + rk.keepTime(); + } +} + + +void peripheral_control_thread(Panda *panda, bool no_fan_control) { + util::set_thread_name("boardd_peripheral_control"); + + SubMaster sm({"deviceState", "driverCameraState"}); + + uint64_t last_driver_camera_t = 0; + uint16_t prev_fan_speed = 999; + uint16_t ir_pwr = 0; + uint16_t prev_ir_pwr = 999; + + FirstOrderFilter integ_lines_filter(0, 30.0, 0.05); + + while (!do_exit && panda->connected()) { + sm.update(1000); + + if (sm.updated("deviceState") && !no_fan_control) { + // Fan speed + uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); + if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) { + panda->set_fan_speed(fan_speed); + prev_fan_speed = fan_speed; + } + } + + if (sm.updated("driverCameraState")) { + auto event = sm["driverCameraState"]; + int cur_integ_lines = event.getDriverCameraState().getIntegLines(); + + cur_integ_lines = integ_lines_filter.update(cur_integ_lines); + last_driver_camera_t = event.getLogMonoTime(); + + if (cur_integ_lines <= CUTOFF_IL) { + ir_pwr = 100.0 * MIN_IR_POWER; + } else if (cur_integ_lines > SATURATE_IL) { + ir_pwr = 100.0 * MAX_IR_POWER; + } else { + ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL))); + } + } + + // Disable IR on input timeout + if (nanos_since_boot() - last_driver_camera_t > 1e9) { + ir_pwr = 0; + } + + if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) { + panda->set_ir_pwr(ir_pwr); + prev_ir_pwr = ir_pwr; + } + } +} + +void boardd_main_thread(std::vector serials) { + LOGW("launching boardd"); + + if (serials.size() == 0) { + serials = Panda::list(); + + if (serials.size() == 0) { + LOGW("no pandas found, exiting"); + return; + } + } + + std::string serials_str; + for (int i = 0; i < serials.size(); i++) { + serials_str += serials[i]; + if (i < serials.size() - 1) serials_str += ", "; + } + LOGW("connecting to pandas: %s", serials_str.c_str()); + + // connect to all provided serials + std::vector pandas; + for (int i = 0; i < serials.size() && !do_exit; /**/) { + Panda *p = connect(serials[i], i); + if (!p) { + util::sleep_for(100); + continue; + } + + pandas.push_back(p); + ++i; + } + + if (!do_exit) { + LOGW("connected to all pandas"); + + std::vector threads; + + threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr); + threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr); + + threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); + threads.emplace_back(can_recv_thread, pandas); + + for (auto &t : threads) t.join(); + } + + for (Panda *panda : pandas) { + delete panda; + } +} diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h new file mode 100644 index 0000000..0646fc6 --- /dev/null +++ b/selfdrive/boardd/boardd.h @@ -0,0 +1,9 @@ +#pragma once + +#include +#include + +#include "selfdrive/boardd/panda.h" + +bool safety_setter_thread(std::vector pandas); +void boardd_main_thread(std::vector serials); diff --git a/selfdrive/boardd/boardd_api_impl.cpp b/selfdrive/boardd/boardd_api_impl.cpp deleted file mode 100644 index 5ed5e00..0000000 --- a/selfdrive/boardd/boardd_api_impl.cpp +++ /dev/null @@ -1,6887 +0,0 @@ -/* Generated by Cython 3.0.8 */ - -/* BEGIN: Cython Metadata -{ - "distutils": { - "depends": [ - "selfdrive/boardd/can_list_to_can_capnp.cc", - "selfdrive/boardd/panda.h" - ], - "include_dirs": [ - "selfdrive/boardd" - ], - "language": "c++", - "name": "selfdrive.boardd.boardd_api_impl", - "sources": [ - "/data/openpilot/selfdrive/boardd/boardd_api_impl.pyx" - ] - }, - "module_name": "selfdrive.boardd.boardd_api_impl" -} -END: Cython Metadata */ - -#ifndef PY_SSIZE_T_CLEAN -#define PY_SSIZE_T_CLEAN -#endif /* PY_SSIZE_T_CLEAN */ -#if defined(CYTHON_LIMITED_API) && 0 - #ifndef Py_LIMITED_API - #if CYTHON_LIMITED_API+0 > 0x03030000 - #define Py_LIMITED_API CYTHON_LIMITED_API - #else - #define Py_LIMITED_API 0x03030000 - #endif - #endif -#endif - -#include "Python.h" -#ifndef Py_PYTHON_H - #error Python headers needed to compile C extensions, please install development version of Python. -#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) - #error Cython requires Python 2.7+ or Python 3.3+. -#else -#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API -#define __PYX_EXTRA_ABI_MODULE_NAME "limited" -#else -#define __PYX_EXTRA_ABI_MODULE_NAME "" -#endif -#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME -#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI -#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." -#define CYTHON_HEX_VERSION 0x030008F0 -#define CYTHON_FUTURE_DIVISION 1 -#include -#ifndef offsetof - #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) -#endif -#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) - #ifndef __stdcall - #define __stdcall - #endif - #ifndef __cdecl - #define __cdecl - #endif - #ifndef __fastcall - #define __fastcall - #endif -#endif -#ifndef DL_IMPORT - #define DL_IMPORT(t) t -#endif -#ifndef DL_EXPORT - #define DL_EXPORT(t) t -#endif -#define __PYX_COMMA , -#ifndef HAVE_LONG_LONG - #define HAVE_LONG_LONG -#endif -#ifndef PY_LONG_LONG - #define PY_LONG_LONG LONG_LONG -#endif -#ifndef Py_HUGE_VAL - #define Py_HUGE_VAL HUGE_VAL -#endif -#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX -#if defined(GRAALVM_PYTHON) - /* For very preliminary testing purposes. Most variables are set the same as PyPy. - The existence of this section does not imply that anything works or is even tested */ - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 1 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) - #endif - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(PYPY_VERSION) - #define CYTHON_COMPILING_IN_PYPY 1 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #ifndef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #undef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 1 - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) - #endif - #if PY_VERSION_HEX < 0x03090000 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(CYTHON_LIMITED_API) - #ifdef Py_LIMITED_API - #undef __PYX_LIMITED_VERSION_HEX - #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API - #endif - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 1 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #undef CYTHON_CLINE_IN_TRACEBACK - #define CYTHON_CLINE_IN_TRACEBACK 0 - #undef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 0 - #undef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 1 - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #undef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #endif - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #undef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 0 - #undef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 0 - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL 0 - #undef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS 1 - #endif - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #undef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 1 - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #endif - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 - #endif -#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 0 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 1 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #undef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 0 - #ifndef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #undef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 0 - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #undef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 0 - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #undef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 0 - #undef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 0 - #ifndef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #ifndef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 1 - #endif - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 -#else - #define CYTHON_COMPILING_IN_PYPY 0 - #define CYTHON_COMPILING_IN_CPYTHON 1 - #define CYTHON_COMPILING_IN_LIMITED_API 0 - #define CYTHON_COMPILING_IN_GRAAL 0 - #define CYTHON_COMPILING_IN_NOGIL 0 - #ifndef CYTHON_USE_TYPE_SLOTS - #define CYTHON_USE_TYPE_SLOTS 1 - #endif - #ifndef CYTHON_USE_TYPE_SPECS - #define CYTHON_USE_TYPE_SPECS 0 - #endif - #ifndef CYTHON_USE_PYTYPE_LOOKUP - #define CYTHON_USE_PYTYPE_LOOKUP 1 - #endif - #if PY_MAJOR_VERSION < 3 - #undef CYTHON_USE_ASYNC_SLOTS - #define CYTHON_USE_ASYNC_SLOTS 0 - #elif !defined(CYTHON_USE_ASYNC_SLOTS) - #define CYTHON_USE_ASYNC_SLOTS 1 - #endif - #ifndef CYTHON_USE_PYLONG_INTERNALS - #define CYTHON_USE_PYLONG_INTERNALS 1 - #endif - #ifndef CYTHON_USE_PYLIST_INTERNALS - #define CYTHON_USE_PYLIST_INTERNALS 1 - #endif - #ifndef CYTHON_USE_UNICODE_INTERNALS - #define CYTHON_USE_UNICODE_INTERNALS 1 - #endif - #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 - #undef CYTHON_USE_UNICODE_WRITER - #define CYTHON_USE_UNICODE_WRITER 0 - #elif !defined(CYTHON_USE_UNICODE_WRITER) - #define CYTHON_USE_UNICODE_WRITER 1 - #endif - #ifndef CYTHON_AVOID_BORROWED_REFS - #define CYTHON_AVOID_BORROWED_REFS 0 - #endif - #ifndef CYTHON_ASSUME_SAFE_MACROS - #define CYTHON_ASSUME_SAFE_MACROS 1 - #endif - #ifndef CYTHON_UNPACK_METHODS - #define CYTHON_UNPACK_METHODS 1 - #endif - #ifndef CYTHON_FAST_THREAD_STATE - #define CYTHON_FAST_THREAD_STATE 1 - #endif - #ifndef CYTHON_FAST_GIL - #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) - #endif - #ifndef CYTHON_METH_FASTCALL - #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) - #endif - #ifndef CYTHON_FAST_PYCALL - #define CYTHON_FAST_PYCALL 1 - #endif - #ifndef CYTHON_PEP487_INIT_SUBCLASS - #define CYTHON_PEP487_INIT_SUBCLASS 1 - #endif - #if PY_VERSION_HEX < 0x03050000 - #undef CYTHON_PEP489_MULTI_PHASE_INIT - #define CYTHON_PEP489_MULTI_PHASE_INIT 0 - #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) - #define CYTHON_PEP489_MULTI_PHASE_INIT 1 - #endif - #ifndef CYTHON_USE_MODULE_STATE - #define CYTHON_USE_MODULE_STATE 0 - #endif - #if PY_VERSION_HEX < 0x030400a1 - #undef CYTHON_USE_TP_FINALIZE - #define CYTHON_USE_TP_FINALIZE 0 - #elif !defined(CYTHON_USE_TP_FINALIZE) - #define CYTHON_USE_TP_FINALIZE 1 - #endif - #if PY_VERSION_HEX < 0x030600B1 - #undef CYTHON_USE_DICT_VERSIONS - #define CYTHON_USE_DICT_VERSIONS 0 - #elif !defined(CYTHON_USE_DICT_VERSIONS) - #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) - #endif - #if PY_VERSION_HEX < 0x030700A3 - #undef CYTHON_USE_EXC_INFO_STACK - #define CYTHON_USE_EXC_INFO_STACK 0 - #elif !defined(CYTHON_USE_EXC_INFO_STACK) - #define CYTHON_USE_EXC_INFO_STACK 1 - #endif - #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC - #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 - #endif -#endif -#if !defined(CYTHON_FAST_PYCCALL) -#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) -#endif -#if !defined(CYTHON_VECTORCALL) -#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) -#endif -#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) -#if CYTHON_USE_PYLONG_INTERNALS - #if PY_MAJOR_VERSION < 3 - #include "longintrepr.h" - #endif - #undef SHIFT - #undef BASE - #undef MASK - #ifdef SIZEOF_VOID_P - enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; - #endif -#endif -#ifndef __has_attribute - #define __has_attribute(x) 0 -#endif -#ifndef __has_cpp_attribute - #define __has_cpp_attribute(x) 0 -#endif -#ifndef CYTHON_RESTRICT - #if defined(__GNUC__) - #define CYTHON_RESTRICT __restrict__ - #elif defined(_MSC_VER) && _MSC_VER >= 1400 - #define CYTHON_RESTRICT __restrict - #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L - #define CYTHON_RESTRICT restrict - #else - #define CYTHON_RESTRICT - #endif -#endif -#ifndef CYTHON_UNUSED - #if defined(__cplusplus) - /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 - * but leads to warnings with -pedantic, since it is a C++17 feature */ - #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) - #if __has_cpp_attribute(maybe_unused) - #define CYTHON_UNUSED [[maybe_unused]] - #endif - #endif - #endif -#endif -#ifndef CYTHON_UNUSED -# if defined(__GNUC__) -# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) -# define CYTHON_UNUSED __attribute__ ((__unused__)) -# else -# define CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_UNUSED_VAR -# if defined(__cplusplus) - template void CYTHON_UNUSED_VAR( const T& ) { } -# else -# define CYTHON_UNUSED_VAR(x) (void)(x) -# endif -#endif -#ifndef CYTHON_MAYBE_UNUSED_VAR - #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) -#endif -#ifndef CYTHON_NCP_UNUSED -# if CYTHON_COMPILING_IN_CPYTHON -# define CYTHON_NCP_UNUSED -# else -# define CYTHON_NCP_UNUSED CYTHON_UNUSED -# endif -#endif -#ifndef CYTHON_USE_CPP_STD_MOVE - #if defined(__cplusplus) && (\ - __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) - #define CYTHON_USE_CPP_STD_MOVE 1 - #else - #define CYTHON_USE_CPP_STD_MOVE 0 - #endif -#endif -#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) -#ifdef _MSC_VER - #ifndef _MSC_STDINT_H_ - #if _MSC_VER < 1300 - typedef unsigned char uint8_t; - typedef unsigned short uint16_t; - typedef unsigned int uint32_t; - #else - typedef unsigned __int8 uint8_t; - typedef unsigned __int16 uint16_t; - typedef unsigned __int32 uint32_t; - #endif - #endif - #if _MSC_VER < 1300 - #ifdef _WIN64 - typedef unsigned long long __pyx_uintptr_t; - #else - typedef unsigned int __pyx_uintptr_t; - #endif - #else - #ifdef _WIN64 - typedef unsigned __int64 __pyx_uintptr_t; - #else - typedef unsigned __int32 __pyx_uintptr_t; - #endif - #endif -#else - #include - typedef uintptr_t __pyx_uintptr_t; -#endif -#ifndef CYTHON_FALLTHROUGH - #if defined(__cplusplus) - /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 - * but leads to warnings with -pedantic, since it is a C++17 feature */ - #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) - #if __has_cpp_attribute(fallthrough) - #define CYTHON_FALLTHROUGH [[fallthrough]] - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_cpp_attribute(clang::fallthrough) - #define CYTHON_FALLTHROUGH [[clang::fallthrough]] - #elif __has_cpp_attribute(gnu::fallthrough) - #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] - #endif - #endif - #endif - #ifndef CYTHON_FALLTHROUGH - #if __has_attribute(fallthrough) - #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) - #else - #define CYTHON_FALLTHROUGH - #endif - #endif - #if defined(__clang__) && defined(__apple_build_version__) - #if __apple_build_version__ < 7000000 - #undef CYTHON_FALLTHROUGH - #define CYTHON_FALLTHROUGH - #endif - #endif -#endif -#ifdef __cplusplus - template - struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; - #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) -#else - #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) -#endif -#if CYTHON_COMPILING_IN_PYPY == 1 - #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) -#else - #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) -#endif -#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) - -#ifndef __cplusplus - #error "Cython files generated with the C++ option must be compiled with a C++ compiler." -#endif -#ifndef CYTHON_INLINE - #if defined(__clang__) - #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) - #else - #define CYTHON_INLINE inline - #endif -#endif -template -void __Pyx_call_destructor(T& x) { - x.~T(); -} -template -class __Pyx_FakeReference { - public: - __Pyx_FakeReference() : ptr(NULL) { } - __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } - T *operator->() { return ptr; } - T *operator&() { return ptr; } - operator T&() { return *ptr; } - template bool operator ==(const U& other) const { return *ptr == other; } - template bool operator !=(const U& other) const { return *ptr != other; } - template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } - template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } - private: - T *ptr; -}; - -#define __PYX_BUILD_PY_SSIZE_T "n" -#define CYTHON_FORMAT_SSIZE_T "z" -#if PY_MAJOR_VERSION < 3 - #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" - #define __Pyx_DefaultClassType PyClass_Type - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#else - #define __Pyx_BUILTIN_MODULE_NAME "builtins" - #define __Pyx_DefaultClassType PyType_Type -#if CYTHON_COMPILING_IN_LIMITED_API - static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyObject *exception_table = NULL; - PyObject *types_module=NULL, *code_type=NULL, *result=NULL; - #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 - PyObject *version_info; - PyObject *py_minor_version = NULL; - #endif - long minor_version = 0; - PyObject *type, *value, *traceback; - PyErr_Fetch(&type, &value, &traceback); - #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 - minor_version = 11; - #else - if (!(version_info = PySys_GetObject("version_info"))) goto end; - if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; - minor_version = PyLong_AsLong(py_minor_version); - Py_DECREF(py_minor_version); - if (minor_version == -1 && PyErr_Occurred()) goto end; - #endif - if (!(types_module = PyImport_ImportModule("types"))) goto end; - if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; - if (minor_version <= 7) { - (void)p; - result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, - c, n, v, fn, name, fline, lnos, fv, cell); - } else if (minor_version <= 10) { - result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, - c, n, v, fn, name, fline, lnos, fv, cell); - } else { - if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; - result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, - c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); - } - end: - Py_XDECREF(code_type); - Py_XDECREF(exception_table); - Py_XDECREF(types_module); - if (type) { - PyErr_Restore(type, value, traceback); - } - return result; - } - #ifndef CO_OPTIMIZED - #define CO_OPTIMIZED 0x0001 - #endif - #ifndef CO_NEWLOCALS - #define CO_NEWLOCALS 0x0002 - #endif - #ifndef CO_VARARGS - #define CO_VARARGS 0x0004 - #endif - #ifndef CO_VARKEYWORDS - #define CO_VARKEYWORDS 0x0008 - #endif - #ifndef CO_ASYNC_GENERATOR - #define CO_ASYNC_GENERATOR 0x0200 - #endif - #ifndef CO_GENERATOR - #define CO_GENERATOR 0x0020 - #endif - #ifndef CO_COROUTINE - #define CO_COROUTINE 0x0080 - #endif -#elif PY_VERSION_HEX >= 0x030B0000 - static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, - PyObject *code, PyObject *c, PyObject* n, PyObject *v, - PyObject *fv, PyObject *cell, PyObject* fn, - PyObject *name, int fline, PyObject *lnos) { - PyCodeObject *result; - PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); - if (!empty_bytes) return NULL; - result = - #if PY_VERSION_HEX >= 0x030C0000 - PyUnstable_Code_NewWithPosOnlyArgs - #else - PyCode_NewWithPosOnlyArgs - #endif - (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); - Py_DECREF(empty_bytes); - return result; - } -#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#else - #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ - PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) -#endif -#endif -#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) - #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) -#else - #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) - #define __Pyx_Py_Is(x, y) Py_Is(x, y) -#else - #define __Pyx_Py_Is(x, y) ((x) == (y)) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) - #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) -#else - #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) - #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) -#else - #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) -#endif -#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) - #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) -#else - #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) -#endif -#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) -#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY - #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) -#else - #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) -#endif -#ifndef CO_COROUTINE - #define CO_COROUTINE 0x80 -#endif -#ifndef CO_ASYNC_GENERATOR - #define CO_ASYNC_GENERATOR 0x200 -#endif -#ifndef Py_TPFLAGS_CHECKTYPES - #define Py_TPFLAGS_CHECKTYPES 0 -#endif -#ifndef Py_TPFLAGS_HAVE_INDEX - #define Py_TPFLAGS_HAVE_INDEX 0 -#endif -#ifndef Py_TPFLAGS_HAVE_NEWBUFFER - #define Py_TPFLAGS_HAVE_NEWBUFFER 0 -#endif -#ifndef Py_TPFLAGS_HAVE_FINALIZE - #define Py_TPFLAGS_HAVE_FINALIZE 0 -#endif -#ifndef Py_TPFLAGS_SEQUENCE - #define Py_TPFLAGS_SEQUENCE 0 -#endif -#ifndef Py_TPFLAGS_MAPPING - #define Py_TPFLAGS_MAPPING 0 -#endif -#ifndef METH_STACKLESS - #define METH_STACKLESS 0 -#endif -#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) - #ifndef METH_FASTCALL - #define METH_FASTCALL 0x80 - #endif - typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); - typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, - Py_ssize_t nargs, PyObject *kwnames); -#else - #define __Pyx_PyCFunctionFast _PyCFunctionFast - #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords -#endif -#if CYTHON_METH_FASTCALL - #define __Pyx_METH_FASTCALL METH_FASTCALL - #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast - #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords -#else - #define __Pyx_METH_FASTCALL METH_VARARGS - #define __Pyx_PyCFunction_FastCall PyCFunction - #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords -#endif -#if CYTHON_VECTORCALL - #define __pyx_vectorcallfunc vectorcallfunc - #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET - #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) -#elif CYTHON_BACKPORT_VECTORCALL - typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, - size_t nargsf, PyObject *kwnames); - #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) - #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) -#else - #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 - #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) -#endif -#if PY_MAJOR_VERSION >= 0x030900B1 -#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) -#else -#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) -#endif -#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) -#elif !CYTHON_COMPILING_IN_LIMITED_API -#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) -#endif -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) -static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { - return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; -} -#endif -static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { -#if CYTHON_COMPILING_IN_LIMITED_API - return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; -#else - return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; -#endif -} -#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) -#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 - #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) - typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); -#else - #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) - #define __Pyx_PyCMethod PyCMethod -#endif -#ifndef METH_METHOD - #define METH_METHOD 0x200 -#endif -#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) - #define PyObject_Malloc(s) PyMem_Malloc(s) - #define PyObject_Free(p) PyMem_Free(p) - #define PyObject_Realloc(p) PyMem_Realloc(p) -#endif -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) -#else - #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) - #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) -#endif -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyThreadState_Current PyThreadState_Get() -#elif !CYTHON_FAST_THREAD_STATE - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#elif PY_VERSION_HEX >= 0x030d00A1 - #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() -#elif PY_VERSION_HEX >= 0x03060000 - #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() -#elif PY_VERSION_HEX >= 0x03000000 - #define __Pyx_PyThreadState_Current PyThreadState_GET() -#else - #define __Pyx_PyThreadState_Current _PyThreadState_Current -#endif -#if CYTHON_COMPILING_IN_LIMITED_API -static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) -{ - void *result; - result = PyModule_GetState(op); - if (!result) - Py_FatalError("Couldn't find the module state"); - return result; -} -#endif -#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) -#if CYTHON_COMPILING_IN_LIMITED_API - #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) -#else - #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) -#endif -#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) -#include "pythread.h" -#define Py_tss_NEEDS_INIT 0 -typedef int Py_tss_t; -static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { - *key = PyThread_create_key(); - return 0; -} -static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { - Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); - *key = Py_tss_NEEDS_INIT; - return key; -} -static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { - PyObject_Free(key); -} -static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { - return *key != Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { - PyThread_delete_key(*key); - *key = Py_tss_NEEDS_INIT; -} -static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { - return PyThread_set_key_value(*key, value); -} -static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { - return PyThread_get_key_value(*key); -} -#endif -#if PY_MAJOR_VERSION < 3 - #if CYTHON_COMPILING_IN_PYPY - #if PYPY_VERSION_NUM < 0x07030600 - #if defined(__cplusplus) && __cplusplus >= 201402L - [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] - #elif defined(__GNUC__) || defined(__clang__) - __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) - #elif defined(_MSC_VER) - __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) - #endif - static CYTHON_INLINE int PyGILState_Check(void) { - return 0; - } - #else // PYPY_VERSION_NUM < 0x07030600 - #endif // PYPY_VERSION_NUM < 0x07030600 - #else - static CYTHON_INLINE int PyGILState_Check(void) { - PyThreadState * tstate = _PyThreadState_Current; - return tstate && (tstate == PyGILState_GetThisThreadState()); - } - #endif -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) -#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? 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-static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 -#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) -#else -#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) -#endif -#else -#define __Pyx_PyErr_Clear() PyErr_Clear() -#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) -#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) -#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) -#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) -#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) -#endif - -/* PyObjectGetAttrStrNoError.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); - -/* CLineInTraceback.proto */ -#ifdef CYTHON_CLINE_IN_TRACEBACK -#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) -#else -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); -#endif - -/* CodeObjectCache.proto */ -#if !CYTHON_COMPILING_IN_LIMITED_API -typedef struct { - PyCodeObject* code_object; - int code_line; -} __Pyx_CodeObjectCacheEntry; -struct __Pyx_CodeObjectCache { - int count; - int max_count; - __Pyx_CodeObjectCacheEntry* entries; -}; -static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); -static PyCodeObject *__pyx_find_code_object(int code_line); -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); -#endif - -/* AddTraceback.proto */ -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename); - -/* CppExceptionConversion.proto */ -#ifndef __Pyx_CppExn2PyErr -#include -#include -#include -#include -static void __Pyx_CppExn2PyErr() { - try { - if (PyErr_Occurred()) - ; // let the latest Python exn pass through and ignore the current one - else - throw; - } catch (const std::bad_alloc& exn) { - PyErr_SetString(PyExc_MemoryError, exn.what()); - } catch (const std::bad_cast& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::bad_typeid& exn) { - PyErr_SetString(PyExc_TypeError, exn.what()); - } catch (const std::domain_error& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::invalid_argument& exn) { - PyErr_SetString(PyExc_ValueError, exn.what()); - } catch (const std::ios_base::failure& exn) { - PyErr_SetString(PyExc_IOError, exn.what()); - } catch (const std::out_of_range& exn) { - PyErr_SetString(PyExc_IndexError, exn.what()); - } catch (const std::overflow_error& exn) { - PyErr_SetString(PyExc_OverflowError, exn.what()); - } catch (const std::range_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); - } catch (const std::underflow_error& exn) { - PyErr_SetString(PyExc_ArithmeticError, exn.what()); 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- -/* FastTypeChecks.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) -#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); -static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); -#else -#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) -#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) -#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) -#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) -#endif -#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) -#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) - -/* CheckBinaryVersion.proto */ -static unsigned long __Pyx_get_runtime_version(void); -static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); - -/* InitStrings.proto */ -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); - -/* #### Code section: module_declarations ### */ - -/* Module declarations from "libcpp.vector" */ - -/* Module declarations from "libc.string" */ - -/* Module declarations from "libcpp.string" */ - -/* Module declarations from "libcpp" */ - -/* Module declarations from "selfdrive.boardd.boardd_api_impl" */ -static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ -static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ -/* #### Code section: typeinfo ### */ -/* #### Code section: before_global_var ### */ -#define __Pyx_MODULE_NAME "selfdrive.boardd.boardd_api_impl" -extern int __pyx_module_is_main_selfdrive__boardd__boardd_api_impl; -int __pyx_module_is_main_selfdrive__boardd__boardd_api_impl = 0; - -/* Implementation of "selfdrive.boardd.boardd_api_impl" */ -/* #### Code section: global_var ### */ -/* #### Code section: string_decls ### */ -static const char __pyx_k_f[] = "f"; -static const char __pyx_k__4[] = "?"; -static const char __pyx_k_can[] = "can"; -static const char __pyx_k_out[] = "out"; -static const char __pyx_k_main[] = "__main__"; -static const char __pyx_k_name[] = "__name__"; -static const char __pyx_k_test[] = "__test__"; -static const char __pyx_k_valid[] = "valid"; -static const char __pyx_k_can_msg[] = "can_msg"; -static const char __pyx_k_msgtype[] = "msgtype"; 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1 : - #endif - PyUnicode_Compare(**name, key) - ); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) { - values[name-argnames] = value; -#if CYTHON_AVOID_BORROWED_REFS - value = NULL; -#endif - break; - } - name++; - } - if (*name) continue; - else { - PyObject*** argname = argnames; - while (argname != first_kw_arg) { - int cmp = (**argname == key) ? 0 : - #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 - (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : - #endif - PyUnicode_Compare(**argname, key); - if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; - if (cmp == 0) goto arg_passed_twice; - argname++; - } - } - } else - goto invalid_keyword_type; - if (kwds2) { - if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - Py_XDECREF(key); - Py_XDECREF(value); - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - #if PY_MAJOR_VERSION < 3 - PyErr_Format(PyExc_TypeError, - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - PyErr_Format(PyExc_TypeError, - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - Py_XDECREF(key); - Py_XDECREF(value); - return -1; -} - -/* RaiseArgTupleInvalid */ -static void __Pyx_RaiseArgtupleInvalid( - const char* func_name, - int exact, - Py_ssize_t num_min, - Py_ssize_t num_max, - Py_ssize_t num_found) -{ - Py_ssize_t num_expected; - const char *more_or_less; - if (num_found < num_min) { - num_expected = num_min; - more_or_less = "at least"; - } else { - num_expected = num_max; - more_or_less = "at most"; - } - if (exact) { - more_or_less = "exactly"; - } - PyErr_Format(PyExc_TypeError, - "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", - func_name, more_or_less, num_expected, - (num_expected == 1) ? 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i : i + PyList_GET_SIZE(o); - if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { - PyObject *r = PyList_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } - else if (PyTuple_CheckExact(o)) { - Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); - if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { - PyObject *r = PyTuple_GET_ITEM(o, n); - Py_INCREF(r); - return r; - } - } else { - PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; - PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; - if (mm && mm->mp_subscript) { - PyObject *r, *key = PyInt_FromSsize_t(i); - if (unlikely(!key)) return NULL; - r = mm->mp_subscript(o, key); - Py_DECREF(key); - return r; - } - if (likely(sm && sm->sq_item)) { - if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { - Py_ssize_t l = sm->sq_length(o); - if (likely(l >= 0)) { - i += l; - } else { - if (!PyErr_ExceptionMatches(PyExc_OverflowError)) - return NULL; - PyErr_Clear(); - } - } - return sm->sq_item(o, i); - } - } -#else - if (is_list || !PyMapping_Check(o)) { - return PySequence_GetItem(o, i); - } -#endif - return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); -} - -/* FixUpExtensionType */ -#if CYTHON_USE_TYPE_SPECS -static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { -#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API - CYTHON_UNUSED_VAR(spec); - CYTHON_UNUSED_VAR(type); -#else - const PyType_Slot *slot = spec->slots; - while (slot && slot->slot && slot->slot != Py_tp_members) - slot++; - if (slot && slot->slot == Py_tp_members) { - int changed = 0; -#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) - const -#endif - PyMemberDef *memb = (PyMemberDef*) slot->pfunc; - while (memb && memb->name) { - if (memb->name[0] == '_' && memb->name[1] == '_') { -#if PY_VERSION_HEX < 0x030900b1 - if (strcmp(memb->name, "__weaklistoffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); - type->tp_weaklistoffset = memb->offset; - changed = 1; - } - else if (strcmp(memb->name, "__dictoffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); - type->tp_dictoffset = memb->offset; - changed = 1; - } -#if CYTHON_METH_FASTCALL - else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { - assert(memb->type == T_PYSSIZET); - assert(memb->flags == READONLY); -#if PY_VERSION_HEX >= 0x030800b4 - type->tp_vectorcall_offset = memb->offset; -#else - type->tp_print = (printfunc) memb->offset; -#endif - changed = 1; - } -#endif -#else - if ((0)); -#endif -#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON - else if (strcmp(memb->name, "__module__") == 0) { - PyObject *descr; - assert(memb->type == T_OBJECT); - assert(memb->flags == 0 || memb->flags == READONLY); - descr = PyDescr_NewMember(type, memb); - if (unlikely(!descr)) - return -1; - if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { - Py_DECREF(descr); - return -1; - } - Py_DECREF(descr); - changed = 1; - } -#endif - } - memb++; - } - if (changed) - PyType_Modified(type); - } -#endif - return 0; -} -#endif - -/* FetchSharedCythonModule */ -static PyObject *__Pyx_FetchSharedCythonABIModule(void) { - return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); -} - -/* FetchCommonType */ -static int __Pyx_VerifyCachedType(PyObject *cached_type, - const char *name, - Py_ssize_t basicsize, - Py_ssize_t expected_basicsize) { - if (!PyType_Check(cached_type)) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s is not a type object", name); - return -1; - } - if (basicsize != expected_basicsize) { - PyErr_Format(PyExc_TypeError, - "Shared Cython type %.200s has the wrong size, try recompiling", - name); - return -1; - } - return 0; -} -#if !CYTHON_USE_TYPE_SPECS -static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { - PyObject* abi_module; - const char* object_name; - PyTypeObject *cached_type = NULL; - abi_module = __Pyx_FetchSharedCythonABIModule(); - if (!abi_module) return NULL; - object_name = strrchr(type->tp_name, '.'); - object_name = object_name ? object_name+1 : type->tp_name; - cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); - if (cached_type) { - if (__Pyx_VerifyCachedType( - (PyObject *)cached_type, - object_name, - cached_type->tp_basicsize, - type->tp_basicsize) < 0) { - goto bad; - } - goto done; - } - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - if (PyType_Ready(type) < 0) goto bad; - if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) - goto bad; - Py_INCREF(type); - cached_type = type; -done: - Py_DECREF(abi_module); - return cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} -#else -static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { - PyObject *abi_module, *cached_type = NULL; - const char* object_name = strrchr(spec->name, '.'); - object_name = object_name ? object_name+1 : spec->name; - abi_module = __Pyx_FetchSharedCythonABIModule(); - if (!abi_module) return NULL; - cached_type = PyObject_GetAttrString(abi_module, object_name); - if (cached_type) { - Py_ssize_t basicsize; -#if CYTHON_COMPILING_IN_LIMITED_API - PyObject *py_basicsize; - py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); - if (unlikely(!py_basicsize)) goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; -#else - basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; -#endif - if (__Pyx_VerifyCachedType( - cached_type, - object_name, - basicsize, - spec->basicsize) < 0) { - goto bad; - } - goto done; - } - if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; - PyErr_Clear(); - CYTHON_UNUSED_VAR(module); - cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); - if (unlikely(!cached_type)) goto bad; - if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; - if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; -done: - Py_DECREF(abi_module); - assert(cached_type == NULL || PyType_Check(cached_type)); - return (PyTypeObject *) cached_type; -bad: - Py_XDECREF(cached_type); - cached_type = NULL; - goto done; -} -#endif - -/* PyObjectGetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro)) - return tp->tp_getattro(obj, attr_name); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_getattr)) - return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); -#endif - return PyObject_GetAttr(obj, attr_name); -} -#endif - -/* PyVectorcallFastCallDict */ -#if CYTHON_METH_FASTCALL -static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) -{ - PyObject *res = NULL; - PyObject *kwnames; - PyObject **newargs; - PyObject **kwvalues; - Py_ssize_t i, pos; - size_t j; - PyObject *key, *value; - unsigned long keys_are_strings; - Py_ssize_t nkw = PyDict_GET_SIZE(kw); - newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); - if (unlikely(newargs == NULL)) { - PyErr_NoMemory(); - return NULL; - } - for (j = 0; j < nargs; j++) newargs[j] = args[j]; - kwnames = PyTuple_New(nkw); - if (unlikely(kwnames == NULL)) { - PyMem_Free(newargs); - return NULL; - } - kwvalues = newargs + nargs; - pos = i = 0; - keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; - while (PyDict_Next(kw, &pos, &key, &value)) { - keys_are_strings &= Py_TYPE(key)->tp_flags; - Py_INCREF(key); - Py_INCREF(value); - PyTuple_SET_ITEM(kwnames, i, key); - kwvalues[i] = value; - i++; - } - if (unlikely(!keys_are_strings)) { - PyErr_SetString(PyExc_TypeError, "keywords must be strings"); - goto cleanup; - } - res = vc(func, newargs, nargs, kwnames); -cleanup: - Py_DECREF(kwnames); - for (i = 0; i < nkw; i++) - Py_DECREF(kwvalues[i]); - PyMem_Free(newargs); - return res; -} -static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) -{ - if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { - return vc(func, args, nargs, NULL); - } - return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); -} -#endif - -/* CythonFunctionShared */ -#if CYTHON_COMPILING_IN_LIMITED_API -static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { - if (__Pyx_CyFunction_Check(func)) { - return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; - } else if (PyCFunction_Check(func)) { - return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; - } - return 0; -} -#else -static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { - return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; -} -#endif -static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { -#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API - __Pyx_Py_XDECREF_SET( - __Pyx_CyFunction_GetClassObj(f), - ((classobj) ? __Pyx_NewRef(classobj) : NULL)); -#else - __Pyx_Py_XDECREF_SET( - ((PyCMethodObject *) (f))->mm_class, - (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); -#endif -} -static PyObject * -__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) -{ - CYTHON_UNUSED_VAR(closure); - if (unlikely(op->func_doc == NULL)) { -#if CYTHON_COMPILING_IN_LIMITED_API - op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); - if (unlikely(!op->func_doc)) return NULL; -#else - if (((PyCFunctionObject*)op)->m_ml->ml_doc) { -#if PY_MAJOR_VERSION >= 3 - op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); -#else - op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); -#endif - if (unlikely(op->func_doc == NULL)) - return NULL; - } else { - Py_INCREF(Py_None); - return Py_None; - } -#endif - } - Py_INCREF(op->func_doc); - return op->func_doc; -} -static int -__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (value == NULL) { - value = Py_None; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_doc, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(op->func_name == NULL)) { -#if CYTHON_COMPILING_IN_LIMITED_API - op->func_name = PyObject_GetAttrString(op->func, "__name__"); -#elif PY_MAJOR_VERSION >= 3 - op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); -#else - op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); -#endif - if (unlikely(op->func_name == NULL)) - return NULL; - } - Py_INCREF(op->func_name); - return op->func_name; -} -static int -__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__name__ must be set to a string object"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_name, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - Py_INCREF(op->func_qualname); - return op->func_qualname; -} -static int -__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); -#if PY_MAJOR_VERSION >= 3 - if (unlikely(value == NULL || !PyUnicode_Check(value))) -#else - if (unlikely(value == NULL || !PyString_Check(value))) -#endif - { - PyErr_SetString(PyExc_TypeError, - "__qualname__ must be set to a string object"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_qualname, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(op->func_dict == NULL)) { - op->func_dict = PyDict_New(); - if (unlikely(op->func_dict == NULL)) - return NULL; - } - Py_INCREF(op->func_dict); - return op->func_dict; -} -static int -__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) -{ - CYTHON_UNUSED_VAR(context); - if (unlikely(value == NULL)) { - PyErr_SetString(PyExc_TypeError, - "function's dictionary may not be deleted"); - return -1; - } - if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "setting function's dictionary to a non-dict"); - return -1; - } - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->func_dict, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(context); - Py_INCREF(op->func_globals); - return op->func_globals; -} -static PyObject * -__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) -{ - CYTHON_UNUSED_VAR(op); - CYTHON_UNUSED_VAR(context); - Py_INCREF(Py_None); - return Py_None; -} -static PyObject * -__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) -{ - PyObject* result = (op->func_code) ? op->func_code : Py_None; - CYTHON_UNUSED_VAR(context); - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { - int result = 0; - PyObject *res = op->defaults_getter((PyObject *) op); - if (unlikely(!res)) - return -1; - #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - op->defaults_tuple = PyTuple_GET_ITEM(res, 0); - Py_INCREF(op->defaults_tuple); - op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); - Py_INCREF(op->defaults_kwdict); - #else - op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); - if (unlikely(!op->defaults_tuple)) result = -1; - else { - op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); - if (unlikely(!op->defaults_kwdict)) result = -1; - } - #endif - Py_DECREF(res); - return result; -} -static int -__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value) { - value = Py_None; - } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__defaults__ must be set to a tuple object"); - return -1; - } - PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " - "currently affect the values used in function calls", 1); - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->defaults_tuple; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - if (op->defaults_getter) { - if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; - result = op->defaults_tuple; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value) { - value = Py_None; - } else if (unlikely(value != Py_None && !PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__kwdefaults__ must be set to a dict object"); - return -1; - } - PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " - "currently affect the values used in function calls", 1); - Py_INCREF(value); - __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->defaults_kwdict; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - if (op->defaults_getter) { - if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; - result = op->defaults_kwdict; - } else { - result = Py_None; - } - } - Py_INCREF(result); - return result; -} -static int -__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { - CYTHON_UNUSED_VAR(context); - if (!value || value == Py_None) { - value = NULL; - } else if (unlikely(!PyDict_Check(value))) { - PyErr_SetString(PyExc_TypeError, - "__annotations__ must be set to a dict object"); - return -1; - } - Py_XINCREF(value); - __Pyx_Py_XDECREF_SET(op->func_annotations, value); - return 0; -} -static PyObject * -__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { - PyObject* result = op->func_annotations; - CYTHON_UNUSED_VAR(context); - if (unlikely(!result)) { - result = PyDict_New(); - if (unlikely(!result)) return NULL; - op->func_annotations = result; - } - Py_INCREF(result); - return result; 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(PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); -} -#endif - -/* PyErrExceptionMatches */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0x030C00A6 - PyObject *current_exception = tstate->current_exception; - if (unlikely(!current_exception)) return 0; - exc_type = (PyObject*) Py_TYPE(current_exception); - if (exc_type == err) return 1; -#else - exc_type = tstate->curexc_type; 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- Py_XDECREF(type); - Py_XDECREF(tb); -#else - PyObject *tmp_type, *tmp_value, *tmp_tb; - tmp_type = tstate->curexc_type; - tmp_value = tstate->curexc_value; - tmp_tb = tstate->curexc_traceback; - tstate->curexc_type = type; - tstate->curexc_value = value; - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#endif -} -static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { -#if PY_VERSION_HEX >= 0x030C00A6 - PyObject* exc_value; - exc_value = tstate->current_exception; - tstate->current_exception = 0; - *value = exc_value; - *type = NULL; - *tb = NULL; - if (exc_value) { - *type = (PyObject*) Py_TYPE(exc_value); - Py_INCREF(*type); - #if CYTHON_COMPILING_IN_CPYTHON - *tb = ((PyBaseExceptionObject*) exc_value)->traceback; - Py_XINCREF(*tb); - #else - *tb = PyException_GetTraceback(exc_value); - #endif - } -#else - *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#endif -} -#endif - -/* PyObjectGetAttrStrNoError */ -#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -#endif -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 - (void) PyObject_GetOptionalAttr(obj, attr_name, &result); - return result; -#else -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -#endif -} - -/* CLineInTraceback */ -#ifndef CYTHON_CLINE_IN_TRACEBACK -static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { - PyObject *use_cline; - PyObject *ptype, *pvalue, *ptraceback; -#if CYTHON_COMPILING_IN_CPYTHON - PyObject **cython_runtime_dict; -#endif - CYTHON_MAYBE_UNUSED_VAR(tstate); - if (unlikely(!__pyx_cython_runtime)) { - return c_line; - } - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); -#if CYTHON_COMPILING_IN_CPYTHON - cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); - if (likely(cython_runtime_dict)) { - __PYX_PY_DICT_LOOKUP_IF_MODIFIED( - use_cline, *cython_runtime_dict, - __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) - } else -#endif - { - PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); - if (use_cline_obj) { - use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; - Py_DECREF(use_cline_obj); - } else { - PyErr_Clear(); - use_cline = NULL; - } - } - if (!use_cline) { - c_line = 0; - (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); - } - else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { - c_line = 0; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - return c_line; -} -#endif - -/* CodeObjectCache */ -#if !CYTHON_COMPILING_IN_LIMITED_API -static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { - int start = 0, mid = 0, end = count - 1; - if (end >= 0 && code_line > entries[end].code_line) { - return count; - } - while (start < end) { - mid = start + (end - start) / 2; - if (code_line < entries[mid].code_line) { - end = mid; - } else if (code_line > entries[mid].code_line) { - start = mid + 1; - } else { - return mid; - } - } - if (code_line <= entries[mid].code_line) { - return mid; - } else { - return mid + 1; - } -} -static PyCodeObject *__pyx_find_code_object(int code_line) { - PyCodeObject* code_object; - int pos; - if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { - return NULL; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { - return NULL; - } - code_object = __pyx_code_cache.entries[pos].code_object; - Py_INCREF(code_object); - return code_object; -} -static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { - int pos, i; - __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; - if (unlikely(!code_line)) { - return; - } - if (unlikely(!entries)) { - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); - if (likely(entries)) { - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = 64; - __pyx_code_cache.count = 1; - entries[0].code_line = code_line; - entries[0].code_object = code_object; - Py_INCREF(code_object); - } - return; - } - pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); - if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { - PyCodeObject* tmp = entries[pos].code_object; - entries[pos].code_object = code_object; - Py_DECREF(tmp); - return; - } - if (__pyx_code_cache.count == __pyx_code_cache.max_count) { - int new_max = __pyx_code_cache.max_count + 64; - entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( - __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); - if (unlikely(!entries)) { - return; - } - __pyx_code_cache.entries = entries; - __pyx_code_cache.max_count = new_max; - } - for (i=__pyx_code_cache.count; i>pos; i--) { - entries[i] = entries[i-1]; - } - entries[pos].code_line = code_line; - entries[pos].code_object = code_object; - __pyx_code_cache.count++; - Py_INCREF(code_object); -} -#endif - -/* AddTraceback */ -#include "compile.h" -#include "frameobject.h" -#include "traceback.h" -#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API - #ifndef Py_BUILD_CORE - #define Py_BUILD_CORE 1 - #endif - #include "internal/pycore_frame.h" -#endif -#if CYTHON_COMPILING_IN_LIMITED_API -static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, - PyObject *firstlineno, PyObject *name) { - PyObject *replace = NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; - replace = PyObject_GetAttrString(code, "replace"); - if (likely(replace)) { - PyObject *result; - result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); - Py_DECREF(replace); - return result; - } - PyErr_Clear(); - #if __PYX_LIMITED_VERSION_HEX < 0x030780000 - { - PyObject *compiled = NULL, *result = NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; - if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; - compiled = Py_CompileString( - "out = type(code)(\n" - " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" - " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" - " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" - " code.co_lnotab)\n", "", Py_file_input); - if (!compiled) return NULL; - result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); - Py_DECREF(compiled); - if (!result) PyErr_Print(); - Py_DECREF(result); - result = PyDict_GetItemString(scratch_dict, "out"); - if (result) Py_INCREF(result); - return result; - } - #else - return NULL; - #endif -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; - PyObject *replace = NULL, *getframe = NULL, *frame = NULL; - PyObject *exc_type, *exc_value, *exc_traceback; - int success = 0; - if (c_line) { - (void) __pyx_cfilenm; - (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); - } - PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); - code_object = Py_CompileString("_getframe()", filename, Py_eval_input); - if (unlikely(!code_object)) goto bad; - py_py_line = PyLong_FromLong(py_line); - if (unlikely(!py_py_line)) goto bad; - py_funcname = PyUnicode_FromString(funcname); - if (unlikely(!py_funcname)) goto bad; - dict = PyDict_New(); - if (unlikely(!dict)) goto bad; - { - PyObject *old_code_object = code_object; - code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); - Py_DECREF(old_code_object); - } - if (unlikely(!code_object)) goto bad; - getframe = PySys_GetObject("_getframe"); - if (unlikely(!getframe)) goto bad; - if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; - frame = PyEval_EvalCode(code_object, dict, dict); - if (unlikely(!frame) || frame == Py_None) goto bad; - success = 1; - bad: - PyErr_Restore(exc_type, exc_value, exc_traceback); - Py_XDECREF(code_object); - Py_XDECREF(py_py_line); - Py_XDECREF(py_funcname); - Py_XDECREF(dict); - Py_XDECREF(replace); - if (success) { - PyTraceBack_Here( - (struct _frame*)frame); - } - Py_XDECREF(frame); -} -#else -static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( - const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = NULL; - PyObject *py_funcname = NULL; - #if PY_MAJOR_VERSION < 3 - PyObject *py_srcfile = NULL; - py_srcfile = PyString_FromString(filename); - if (!py_srcfile) goto bad; - #endif - if (c_line) { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - #else - py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); - if (!py_funcname) goto bad; - funcname = PyUnicode_AsUTF8(py_funcname); - if (!funcname) goto bad; - #endif - } - else { - #if PY_MAJOR_VERSION < 3 - py_funcname = PyString_FromString(funcname); - if (!py_funcname) goto bad; - #endif - } - #if PY_MAJOR_VERSION < 3 - py_code = __Pyx_PyCode_New( - 0, - 0, - 0, - 0, - 0, - 0, - __pyx_empty_bytes, /*PyObject *code,*/ - __pyx_empty_tuple, /*PyObject *consts,*/ - __pyx_empty_tuple, /*PyObject *names,*/ - __pyx_empty_tuple, /*PyObject *varnames,*/ - __pyx_empty_tuple, /*PyObject *freevars,*/ - __pyx_empty_tuple, /*PyObject *cellvars,*/ - py_srcfile, /*PyObject *filename,*/ - py_funcname, /*PyObject *name,*/ - py_line, - __pyx_empty_bytes /*PyObject *lnotab*/ - ); - Py_DECREF(py_srcfile); - #else - py_code = PyCode_NewEmpty(filename, funcname, py_line); - #endif - Py_XDECREF(py_funcname); - return py_code; -bad: - Py_XDECREF(py_funcname); - #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_srcfile); - #endif - return NULL; -} -static void __Pyx_AddTraceback(const char *funcname, int c_line, - int py_line, const char *filename) { - PyCodeObject *py_code = 0; - PyFrameObject *py_frame = 0; - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject *ptype, *pvalue, *ptraceback; - if (c_line) { - c_line = __Pyx_CLineForTraceback(tstate, c_line); - } - py_code = __pyx_find_code_object(c_line ? -c_line : py_line); - if (!py_code) { - __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); - py_code = __Pyx_CreateCodeObjectForTraceback( - funcname, c_line, py_line, filename); - if (!py_code) { - /* If the code object creation fails, then we should clear the - fetched exception references and propagate the new exception */ - Py_XDECREF(ptype); - Py_XDECREF(pvalue); - Py_XDECREF(ptraceback); - goto bad; - } - __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); - __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); - } - py_frame = PyFrame_New( - tstate, /*PyThreadState *tstate,*/ - py_code, /*PyCodeObject *code,*/ - __pyx_d, /*PyObject *globals,*/ - 0 /*PyObject *locals*/ - ); - if (!py_frame) goto bad; - __Pyx_PyFrame_SetLineNumber(py_frame, py_line); - PyTraceBack_Here(py_frame); -bad: - Py_XDECREF(py_code); - Py_XDECREF(py_frame); -} -#endif - -/* CIntFromPyVerify */ -#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) -#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ - __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) -#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ - {\ - func_type value = func_value;\ - if (sizeof(target_type) < sizeof(func_type)) {\ - if (unlikely(value != (func_type) (target_type) value)) {\ - func_type zero = 0;\ - if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ - return (target_type) -1;\ - if (is_unsigned && unlikely(value < zero))\ - goto raise_neg_overflow;\ - else\ - goto raise_overflow;\ - }\ - }\ - return (target_type) value;\ - } - -/* CIntToPy */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; - if (is_unsigned) { - if (sizeof(long) < sizeof(long)) { - return PyInt_FromLong((long) value); - } else if (sizeof(long) <= sizeof(unsigned long)) { - return PyLong_FromUnsignedLong((unsigned long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { - return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); -#endif - } - } else { - if (sizeof(long) <= sizeof(long)) { - return PyInt_FromLong((long) value); -#ifdef HAVE_LONG_LONG - } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { - return PyLong_FromLongLong((PY_LONG_LONG) value); -#endif - } - } - { - int one = 1; int little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&value; -#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 - return _PyLong_FromByteArray(bytes, sizeof(long), - little, !is_unsigned); -#else - PyObject *from_bytes, *result = NULL; - PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; - from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); - if (!from_bytes) return NULL; - py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); - if (!py_bytes) goto limited_bad; - order_str = PyUnicode_FromString(little ? "little" : "big"); - if (!order_str) goto limited_bad; - arg_tuple = PyTuple_Pack(2, py_bytes, order_str); - if (!arg_tuple) goto limited_bad; - if (!is_unsigned) { - kwds = PyDict_New(); - if (!kwds) goto limited_bad; - if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; - } - result = PyObject_Call(from_bytes, arg_tuple, kwds); - limited_bad: - Py_XDECREF(kwds); - Py_XDECREF(arg_tuple); - Py_XDECREF(order_str); - Py_XDECREF(py_bytes); - Py_XDECREF(from_bytes); - return result; -#endif - } -} - -/* CIntFromPy */ -static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const long neg_one = (long) -1, const_zero = (long) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if ((sizeof(long) < sizeof(long))) { - __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (long) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - if (unlikely(__Pyx_PyLong_IsNeg(x))) { - goto raise_neg_overflow; - } else if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_DigitCount(x)) { - case 2: - if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { - return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 3: - if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { - return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - case 4: - if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { - return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); - } - } - break; - } - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if ((sizeof(long) <= sizeof(unsigned long))) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_SignedDigitCount(x)) { - case -2: - if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 2: - if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -3: - if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 3: - if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case -4: - if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { - return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - case 4: - if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { - return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); - } - } - break; - } - } -#endif - if ((sizeof(long) <= sizeof(long))) { - __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { - long val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); -#if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } -#endif - if (likely(v)) { - int ret = -1; -#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); -#else - PyObject *stepval = NULL, *mask = NULL, *shift = NULL; - int bits, remaining_bits, is_negative = 0; - long idigit; - int chunk_size = (sizeof(long) < 8) ? 30 : 62; - if (unlikely(!PyLong_CheckExact(v))) { - PyObject *tmp = v; - v = PyNumber_Long(v); - assert(PyLong_CheckExact(v)); - Py_DECREF(tmp); - if (unlikely(!v)) return (long) -1; - } -#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(x) == 0) - return (long) 0; - is_negative = Py_SIZE(x) < 0; -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (long) -1; - is_negative = result == 1; - } -#endif - if (is_unsigned && unlikely(is_negative)) { - goto raise_neg_overflow; - } else if (is_negative) { - stepval = PyNumber_Invert(v); - if (unlikely(!stepval)) - return (long) -1; - } else { - stepval = __Pyx_NewRef(v); - } - val = (long) 0; - mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; - shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; - for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { - PyObject *tmp, *digit; - digit = PyNumber_And(stepval, mask); - if (unlikely(!digit)) goto done; - idigit = PyLong_AsLong(digit); - Py_DECREF(digit); - if (unlikely(idigit < 0)) goto done; - tmp = PyNumber_Rshift(stepval, shift); - if (unlikely(!tmp)) goto done; - Py_DECREF(stepval); stepval = tmp; - val |= ((long) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(stepval) == 0) - goto unpacking_done; - #endif - } - idigit = PyLong_AsLong(stepval); - if (unlikely(idigit < 0)) goto done; - remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); - if (unlikely(idigit >= (1L << remaining_bits))) - goto raise_overflow; - val |= ((long) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - unpacking_done: - #endif - if (!is_unsigned) { - if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) - goto raise_overflow; - if (is_negative) - val = ~val; - } - ret = 0; - done: - Py_XDECREF(shift); - Py_XDECREF(mask); - Py_XDECREF(stepval); -#endif - Py_DECREF(v); - if (likely(!ret)) - return val; - } - return (long) -1; - } - } else { - long val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (long) -1; - val = __Pyx_PyInt_As_long(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to long"); - return (long) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to long"); - return (long) -1; -} - -/* FormatTypeName */ -#if CYTHON_COMPILING_IN_LIMITED_API -static __Pyx_TypeName -__Pyx_PyType_GetName(PyTypeObject* tp) -{ - PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, - __pyx_n_s_name); - if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { - PyErr_Clear(); - Py_XDECREF(name); - name = __Pyx_NewRef(__pyx_n_s__4); - } - return name; -} -#endif - -/* CIntFromPy */ -static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wconversion" -#endif - const int neg_one = (int) -1, const_zero = (int) 0; -#ifdef __Pyx_HAS_GCC_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - const int is_unsigned = neg_one > const_zero; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x))) { - if ((sizeof(int) < sizeof(long))) { - __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) - } else { - long val = PyInt_AS_LONG(x); - if (is_unsigned && unlikely(val < 0)) { - goto raise_neg_overflow; - } - return (int) val; - } - } else -#endif - if (likely(PyLong_Check(x))) { - if (is_unsigned) { -#if CYTHON_USE_PYLONG_INTERNALS - if (unlikely(__Pyx_PyLong_IsNeg(x))) { - goto raise_neg_overflow; - } else if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_DigitCount(x)) { - case 2: - if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { - return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 3: - if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { - return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - case 4: - if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { - return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); - } - } - break; - } - } -#endif -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 - if (unlikely(Py_SIZE(x) < 0)) { - goto raise_neg_overflow; - } -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - if (unlikely(result == 1)) - goto raise_neg_overflow; - } -#endif - if ((sizeof(int) <= sizeof(unsigned long))) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) -#endif - } - } else { -#if CYTHON_USE_PYLONG_INTERNALS - if (__Pyx_PyLong_IsCompact(x)) { - __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) - } else { - const digit* digits = __Pyx_PyLong_Digits(x); - assert(__Pyx_PyLong_DigitCount(x) > 1); - switch (__Pyx_PyLong_SignedDigitCount(x)) { - case -2: - if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 2: - if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -3: - if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 3: - if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case -4: - if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { - return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - case 4: - if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { - if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { - __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) - } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { - return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); - } - } - break; - } - } -#endif - if ((sizeof(int) <= sizeof(long))) { - __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) -#ifdef HAVE_LONG_LONG - } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { - __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) -#endif - } - } - { - int val; - PyObject *v = __Pyx_PyNumber_IntOrLong(x); -#if PY_MAJOR_VERSION < 3 - if (likely(v) && !PyLong_Check(v)) { - PyObject *tmp = v; - v = PyNumber_Long(tmp); - Py_DECREF(tmp); - } -#endif - if (likely(v)) { - int ret = -1; -#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) - int one = 1; int is_little = (int)*(unsigned char *)&one; - unsigned char *bytes = (unsigned char *)&val; - ret = _PyLong_AsByteArray((PyLongObject *)v, - bytes, sizeof(val), - is_little, !is_unsigned); -#else - PyObject *stepval = NULL, *mask = NULL, *shift = NULL; - int bits, remaining_bits, is_negative = 0; - long idigit; - int chunk_size = (sizeof(long) < 8) ? 30 : 62; - if (unlikely(!PyLong_CheckExact(v))) { - PyObject *tmp = v; - v = PyNumber_Long(v); - assert(PyLong_CheckExact(v)); - Py_DECREF(tmp); - if (unlikely(!v)) return (int) -1; - } -#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(x) == 0) - return (int) 0; - is_negative = Py_SIZE(x) < 0; -#else - { - int result = PyObject_RichCompareBool(x, Py_False, Py_LT); - if (unlikely(result < 0)) - return (int) -1; - is_negative = result == 1; - } -#endif - if (is_unsigned && unlikely(is_negative)) { - goto raise_neg_overflow; - } else if (is_negative) { - stepval = PyNumber_Invert(v); - if (unlikely(!stepval)) - return (int) -1; - } else { - stepval = __Pyx_NewRef(v); - } - val = (int) 0; - mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; - shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; - for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { - PyObject *tmp, *digit; - digit = PyNumber_And(stepval, mask); - if (unlikely(!digit)) goto done; - idigit = PyLong_AsLong(digit); - Py_DECREF(digit); - if (unlikely(idigit < 0)) goto done; - tmp = PyNumber_Rshift(stepval, shift); - if (unlikely(!tmp)) goto done; - Py_DECREF(stepval); stepval = tmp; - val |= ((int) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - if (Py_SIZE(stepval) == 0) - goto unpacking_done; - #endif - } - idigit = PyLong_AsLong(stepval); - if (unlikely(idigit < 0)) goto done; - remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); - if (unlikely(idigit >= (1L << remaining_bits))) - goto raise_overflow; - val |= ((int) idigit) << bits; - #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 - unpacking_done: - #endif - if (!is_unsigned) { - if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) - goto raise_overflow; - if (is_negative) - val = ~val; - } - ret = 0; - done: - Py_XDECREF(shift); - Py_XDECREF(mask); - Py_XDECREF(stepval); -#endif - Py_DECREF(v); - if (likely(!ret)) - return val; - } - return (int) -1; - } - } else { - int val; - PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); - if (!tmp) return (int) -1; - val = __Pyx_PyInt_As_int(tmp); - Py_DECREF(tmp); - return val; - } -raise_overflow: - PyErr_SetString(PyExc_OverflowError, - "value too large to convert to int"); - return (int) -1; -raise_neg_overflow: - PyErr_SetString(PyExc_OverflowError, - "can't convert negative value to int"); - return (int) -1; -} - -/* FastTypeChecks */ -#if CYTHON_COMPILING_IN_CPYTHON -static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { - while (a) { - a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); - if (a == b) - return 1; - } - return b == &PyBaseObject_Type; -} -static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (a == b) return 1; - mro = a->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(a, b); -} -static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { - PyObject *mro; - if (cls == a || cls == b) return 1; - mro = cls->tp_mro; - if (likely(mro)) { - Py_ssize_t i, n; - n = PyTuple_GET_SIZE(mro); - for (i = 0; i < n; i++) { - PyObject *base = PyTuple_GET_ITEM(mro, i); - if (base == (PyObject *)a || base == (PyObject *)b) - return 1; - } - return 0; - } - return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); -} -#if PY_MAJOR_VERSION == 2 -static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { - PyObject *exception, *value, *tb; - int res; - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - __Pyx_ErrFetch(&exception, &value, &tb); - res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - if (!res) { - res = PyObject_IsSubclass(err, exc_type2); - if (unlikely(res == -1)) { - PyErr_WriteUnraisable(err); - res = 0; - } - } - __Pyx_ErrRestore(exception, value, tb); - return res; -} -#else -static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { - if (exc_type1) { - return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); - } else { - return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); - } -} -#endif -static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { - Py_ssize_t i, n; - assert(PyExceptionClass_Check(exc_type)); - n = PyTuple_GET_SIZE(tuple); -#if PY_MAJOR_VERSION >= 3 - for (i=0; i= 0x030B00A4 - return Py_Version & ~0xFFUL; -#else - const char* rt_version = Py_GetVersion(); - unsigned long version = 0; - unsigned long factor = 0x01000000UL; - unsigned int digit = 0; - int i = 0; - while (factor) { - while ('0' <= rt_version[i] && rt_version[i] <= '9') { - digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); - ++i; - } - version += factor * digit; - if (rt_version[i] != '.') - break; - digit = 0; - factor >>= 8; - ++i; - } - return version; -#endif -} -static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { - const unsigned long MAJOR_MINOR = 0xFFFF0000UL; - if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) - return 0; - if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) - return 1; - { - char message[200]; - PyOS_snprintf(message, sizeof(message), - "compile time Python version %d.%d " - "of module '%.100s' " - "%s " - "runtime version %d.%d", - (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), - __Pyx_MODULE_NAME, - (allow_newer) ? "was newer than" : "does not match", - (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) - ); - return PyErr_WarnEx(NULL, message, 1); - } -} - -/* InitStrings */ -#if PY_MAJOR_VERSION >= 3 -static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { - if (t.is_unicode | t.is_str) { - if (t.intern) { - *str = PyUnicode_InternFromString(t.s); - } else if (t.encoding) { - *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); - } else { - *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); - } - } else { - *str = PyBytes_FromStringAndSize(t.s, t.n - 1); - } - if (!*str) - return -1; - if (PyObject_Hash(*str) == -1) - return -1; - return 0; -} -#endif -static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { - while (t->p) { - #if PY_MAJOR_VERSION >= 3 - __Pyx_InitString(*t, t->p); - #else - if (t->is_unicode) { - *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); - } else if (t->intern) { - *t->p = PyString_InternFromString(t->s); - } else { - *t->p = PyString_FromStringAndSize(t->s, t->n - 1); - } - if (!*t->p) - return -1; - if (PyObject_Hash(*t->p) == -1) - return -1; - #endif - ++t; - } - return 0; -} - -#include -static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { - size_t len = strlen(s); - if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { - PyErr_SetString(PyExc_OverflowError, "byte string is too long"); - return -1; - } - return (Py_ssize_t) len; -} -static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { - Py_ssize_t len = __Pyx_ssize_strlen(c_str); - if (unlikely(len < 0)) return NULL; - return __Pyx_PyUnicode_FromStringAndSize(c_str, len); -} -static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { - Py_ssize_t len = __Pyx_ssize_strlen(c_str); - if (unlikely(len < 0)) return NULL; - return PyByteArray_FromStringAndSize(c_str, len); -} -static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { - Py_ssize_t ignore; - return __Pyx_PyObject_AsStringAndSize(o, &ignore); -} -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT -#if !CYTHON_PEP393_ENABLED -static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - char* defenc_c; - PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); - if (!defenc) return NULL; - defenc_c = PyBytes_AS_STRING(defenc); -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - { - char* end = defenc_c + PyBytes_GET_SIZE(defenc); - char* c; - for (c = defenc_c; c < end; c++) { - if ((unsigned char) (*c) >= 128) { - PyUnicode_AsASCIIString(o); - return NULL; - } - } - } -#endif - *length = PyBytes_GET_SIZE(defenc); - return defenc_c; -} -#else -static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { - if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - if (likely(PyUnicode_IS_ASCII(o))) { - *length = PyUnicode_GET_LENGTH(o); - return PyUnicode_AsUTF8(o); - } else { - PyUnicode_AsASCIIString(o); - return NULL; - } -#else - return PyUnicode_AsUTF8AndSize(o, length); -#endif -} -#endif -#endif -static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { -#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT - if ( -#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII - __Pyx_sys_getdefaultencoding_not_ascii && -#endif - PyUnicode_Check(o)) { - return __Pyx_PyUnicode_AsStringAndSize(o, length); - } else -#endif -#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) - if (PyByteArray_Check(o)) { - *length = PyByteArray_GET_SIZE(o); - return PyByteArray_AS_STRING(o); - } else -#endif - { - char* result; - int r = PyBytes_AsStringAndSize(o, &result, length); - if (unlikely(r < 0)) { - return NULL; - } else { - return result; - } - } -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { - int is_true = x == Py_True; - if (is_true | (x == Py_False) | (x == Py_None)) return is_true; - else return PyObject_IsTrue(x); -} -static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { - int retval; - if (unlikely(!x)) return -1; - retval = __Pyx_PyObject_IsTrue(x); - Py_DECREF(x); - return retval; -} -static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { - __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); -#if PY_MAJOR_VERSION >= 3 - if (PyLong_Check(result)) { - if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, - "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " - "The ability to return an instance of a strict subclass of int is deprecated, " - "and may be removed in a future version of Python.", - result_type_name)) { - __Pyx_DECREF_TypeName(result_type_name); - Py_DECREF(result); - return NULL; - } - __Pyx_DECREF_TypeName(result_type_name); - return result; - } -#endif - PyErr_Format(PyExc_TypeError, - "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", - type_name, type_name, result_type_name); - __Pyx_DECREF_TypeName(result_type_name); - Py_DECREF(result); - return NULL; -} -static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { -#if CYTHON_USE_TYPE_SLOTS - PyNumberMethods *m; -#endif - const char *name = NULL; - PyObject *res = NULL; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_Check(x) || PyLong_Check(x))) -#else - if (likely(PyLong_Check(x))) -#endif - return __Pyx_NewRef(x); -#if CYTHON_USE_TYPE_SLOTS - m = Py_TYPE(x)->tp_as_number; - #if PY_MAJOR_VERSION < 3 - if (m && m->nb_int) { - name = "int"; - res = m->nb_int(x); - } - else if (m && m->nb_long) { - name = "long"; - res = m->nb_long(x); - } - #else - if (likely(m && m->nb_int)) { - name = "int"; - res = m->nb_int(x); - } - #endif -#else - if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { - res = PyNumber_Int(x); - } -#endif - if (likely(res)) { -#if PY_MAJOR_VERSION < 3 - if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { -#else - if (unlikely(!PyLong_CheckExact(res))) { -#endif - return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); - } - } - else if (!PyErr_Occurred()) { - PyErr_SetString(PyExc_TypeError, - "an integer is required"); - } - return res; -} -static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { - Py_ssize_t ival; - PyObject *x; -#if PY_MAJOR_VERSION < 3 - if (likely(PyInt_CheckExact(b))) { - if (sizeof(Py_ssize_t) >= sizeof(long)) - return PyInt_AS_LONG(b); - else - return PyInt_AsSsize_t(b); - } -#endif - if (likely(PyLong_CheckExact(b))) { - #if CYTHON_USE_PYLONG_INTERNALS - if (likely(__Pyx_PyLong_IsCompact(b))) { - return __Pyx_PyLong_CompactValue(b); - } else { - const digit* digits = __Pyx_PyLong_Digits(b); - const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); - switch (size) { - case 2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -2: - if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -3: - if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case 4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - case -4: - if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { - return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); - } - break; - } - } - #endif - return PyLong_AsSsize_t(b); - } - x = PyNumber_Index(b); - if (!x) return -1; - ival = PyInt_AsSsize_t(x); - Py_DECREF(x); - return ival; -} -static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { - if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { - return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); -#if PY_MAJOR_VERSION < 3 - } else if (likely(PyInt_CheckExact(o))) { - return PyInt_AS_LONG(o); -#endif - } else { - Py_ssize_t ival; - PyObject *x; - x = PyNumber_Index(o); - if (!x) return -1; - ival = PyInt_AsLong(x); - Py_DECREF(x); - return ival; - } -} -static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { - return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); -} -static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { - return PyInt_FromSize_t(ival); -} - - -/* #### Code section: utility_code_pragmas_end ### */ -#ifdef _MSC_VER -#pragma warning( pop ) -#endif - - - -/* #### Code section: end ### */ -#endif /* Py_PYTHON_H */ diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so deleted file mode 100755 index deccdfb..0000000 Binary files a/selfdrive/boardd/boardd_api_impl.so and /dev/null differ diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc new file mode 100644 index 0000000..72ca726 --- /dev/null +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -0,0 +1,21 @@ +#include "cereal/messaging/messaging.h" +#include "selfdrive/boardd/panda.h" + +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { + MessageBuilder msg; + auto event = msg.initEvent(valid); + + auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); + int j = 0; + for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { + auto c = canData[j]; + c.setAddress(it->address); + c.setBusTime(it->busTime); + c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); + c.setSrc(it->src); + } + const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); + out.resize(msg_size); + kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); + capnp::writeMessage(output_stream, msg); +} diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc new file mode 100644 index 0000000..cb17a58 --- /dev/null +++ b/selfdrive/boardd/main.cc @@ -0,0 +1,22 @@ +#include + +#include "selfdrive/boardd/boardd.h" +#include "common/swaglog.h" +#include "common/util.h" +#include "system/hardware/hw.h" + +int main(int argc, char *argv[]) { + LOGW("starting boardd"); + + if (!Hardware::PC()) { + int err; + err = util::set_realtime_priority(54); + assert(err == 0); + err = util::set_core_affinity({4}); + assert(err == 0); + } + + std::vector serials(argv + 1, argv + argc); + boardd_main_thread(serials); + return 0; +} diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc new file mode 100644 index 0000000..95cfe04 --- /dev/null +++ b/selfdrive/boardd/panda.cc @@ -0,0 +1,284 @@ +#include "selfdrive/boardd/panda.h" + +#include + +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "common/swaglog.h" +#include "common/util.h" + +Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { + // try USB first, then SPI + try { + handle = std::make_unique(serial); + LOGW("connected to %s over USB", serial.c_str()); + } catch (std::exception &e) { +#ifndef __APPLE__ + handle = std::make_unique(serial); + LOGW("connected to %s over SPI", serial.c_str()); +#else + throw e; +#endif + } + + hw_type = get_hw_type(); + can_reset_communications(); + + return; +} + +bool Panda::connected() { + return handle->connected; +} + +bool Panda::comms_healthy() { + return handle->comms_healthy; +} + +std::string Panda::hw_serial() { + return handle->hw_serial; +} + +std::vector Panda::list(bool usb_only) { + std::vector serials = PandaUsbHandle::list(); + +#ifndef __APPLE__ + if (!usb_only) { + for (auto s : PandaSpiHandle::list()) { + if (std::find(serials.begin(), serials.end(), s) == serials.end()) { + serials.push_back(s); + } + } + } +#endif + + return serials; +} + +void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { + handle->control_write(0xdc, (uint16_t)safety_model, safety_param); +} + +void Panda::set_alternative_experience(uint16_t alternative_experience) { + handle->control_write(0xdf, alternative_experience, 0); +} + +cereal::PandaState::PandaType Panda::get_hw_type() { + unsigned char hw_query[1] = {0}; + + handle->control_read(0xc1, 0, 0, hw_query, 1); + return (cereal::PandaState::PandaType)(hw_query[0]); +} + +void Panda::set_fan_speed(uint16_t fan_speed) { + handle->control_write(0xb1, fan_speed, 0); +} + +uint16_t Panda::get_fan_speed() { + uint16_t fan_speed_rpm = 0; + handle->control_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); + return fan_speed_rpm; +} + +void Panda::set_ir_pwr(uint16_t ir_pwr) { + handle->control_write(0xb0, ir_pwr, 0); +} + +std::optional Panda::get_state() { + health_t health {0}; + int err = handle->control_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); + return err >= 0 ? std::make_optional(health) : std::nullopt; +} + +std::optional Panda::get_can_state(uint16_t can_number) { + can_health_t can_health {0}; + int err = handle->control_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); + return err >= 0 ? std::make_optional(can_health) : std::nullopt; +} + +void Panda::set_loopback(bool loopback) { + handle->control_write(0xe5, loopback, 0); +} + +std::optional> Panda::get_firmware_version() { + std::vector fw_sig_buf(128); + int read_1 = handle->control_read(0xd3, 0, 0, &fw_sig_buf[0], 64); + int read_2 = handle->control_read(0xd4, 0, 0, &fw_sig_buf[64], 64); + return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt; +} + +std::optional Panda::get_serial() { + char serial_buf[17] = {'\0'}; + int err = handle->control_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); + return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; +} + +bool Panda::up_to_date() { + if (auto fw_sig = get_firmware_version()) { + for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) { + auto content = util::read_file(std::string("../../panda/board/obj/") + fn); + if (content.size() >= fw_sig->size() && + memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) { + return true; + } + } + } + return false; +} + +void Panda::set_power_saving(bool power_saving) { + handle->control_write(0xe7, power_saving, 0); +} + +void Panda::enable_deepsleep() { + handle->control_write(0xfb, 0, 0); +} + +void Panda::send_heartbeat(bool engaged) { + handle->control_write(0xf3, engaged, 0); +} + +void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { + handle->control_write(0xde, bus, (speed * 10)); +} + +void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { + handle->control_write(0xf9, bus, (speed * 10)); +} + +void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) { + handle->control_write(0xfc, bus, non_iso); +} + +static uint8_t len_to_dlc(uint8_t len) { + if (len <= 8) { + return len; + } + if (len <= 24) { + return 8 + ((len - 8) / 4) + ((len % 4) ? 1 : 0); + } else { + return 11 + (len / 16) + ((len % 16) ? 1 : 0); + } +} + +void Panda::pack_can_buffer(const capnp::List::Reader &can_data_list, + std::function write_func) { + int32_t pos = 0; + uint8_t send_buf[2 * USB_TX_SOFT_LIMIT]; + + for (auto cmsg : can_data_list) { + // check if the message is intended for this panda + uint8_t bus = cmsg.getSrc(); + if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) { + continue; + } + auto can_data = cmsg.getDat(); + uint8_t data_len_code = len_to_dlc(can_data.size()); + assert(can_data.size() <= 64); + assert(can_data.size() == dlc_to_len[data_len_code]); + + can_header header = {}; + header.addr = cmsg.getAddress(); + header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; + header.data_len_code = data_len_code; + header.bus = bus - bus_offset; + header.checksum = 0; + + memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header)); + memcpy(&send_buf[pos + sizeof(can_header)], (uint8_t *)can_data.begin(), can_data.size()); + uint32_t msg_size = sizeof(can_header) + can_data.size(); + + // set checksum + ((can_header *) &send_buf[pos])->checksum = calculate_checksum(&send_buf[pos], msg_size); + + pos += msg_size; + + if (pos >= USB_TX_SOFT_LIMIT) { + write_func(send_buf, pos); + pos = 0; + } + } + + // send remaining packets + if (pos > 0) write_func(send_buf, pos); +} + +void Panda::can_send(capnp::List::Reader can_data_list) { + pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { + handle->bulk_write(3, data, size, 5); + }); +} + +bool Panda::can_receive(std::vector& out_vec) { + // Check if enough space left in buffer to store RECV_SIZE data + assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); + + int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); + if (!comms_healthy()) { + return false; + } + if (recv == RECV_SIZE) { + LOGW("Panda receive buffer full"); + } + receive_buffer_size += recv; + + return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); +} + +void Panda::can_reset_communications() { + handle->control_write(0xc0, 0, 0); +} + +bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec) { + int pos = 0; + + while (pos <= size - sizeof(can_header)) { + can_header header; + memcpy(&header, &data[pos], sizeof(can_header)); + + const uint8_t data_len = dlc_to_len[header.data_len_code]; + if (pos + sizeof(can_header) + data_len > size) { + // we don't have all the data for this message yet + break; + } + + if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) { + // TODO: also reset CAN comms? + LOGE("Panda CAN checksum failed"); + size = 0; + return false; + } + + can_frame &canData = out_vec.emplace_back(); + canData.busTime = 0; + canData.address = header.addr; + canData.src = header.bus + bus_offset; + if (header.rejected) { + canData.src += CAN_REJECTED_BUS_OFFSET; + } + if (header.returned) { + canData.src += CAN_RETURNED_BUS_OFFSET; + } + + canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len); + + pos += sizeof(can_header) + data_len; + } + + // move the overflowing data to the beginning of the buffer for the next round + memmove(data, &data[pos], size - pos); + size -= pos; + + return true; +} + +uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) { + uint8_t checksum = 0U; + for (uint32_t i = 0U; i < len; i++) { + checksum ^= data[i]; + } + return checksum; +} diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h new file mode 100644 index 0000000..f46150d --- /dev/null +++ b/selfdrive/boardd/panda.h @@ -0,0 +1,95 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "cereal/gen/cpp/car.capnp.h" +#include "cereal/gen/cpp/log.capnp.h" +#include "panda/board/health.h" +#include "panda/board/can_definitions.h" +#include "selfdrive/boardd/panda_comms.h" + +#define USB_TX_SOFT_LIMIT (0x100U) +#define USBPACKET_MAX_SIZE (0x40) + +#define RECV_SIZE (0x4000U) + +#define CAN_REJECTED_BUS_OFFSET 0xC0U +#define CAN_RETURNED_BUS_OFFSET 0x80U + +struct __attribute__((packed)) can_header { + uint8_t reserved : 1; + uint8_t bus : 3; + uint8_t data_len_code : 4; + uint8_t rejected : 1; + uint8_t returned : 1; + uint8_t extended : 1; + uint32_t addr : 29; + uint8_t checksum : 8; +}; + +struct can_frame { + long address; + std::string dat; + long busTime; + long src; +}; + + +class Panda { +private: + std::unique_ptr handle; + +public: + Panda(std::string serial="", uint32_t bus_offset=0); + + cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; + const uint32_t bus_offset; + + bool connected(); + bool comms_healthy(); + std::string hw_serial(); + + // Static functions + static std::vector list(bool usb_only=false); + + // Panda functionality + cereal::PandaState::PandaType get_hw_type(); + void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); + void set_alternative_experience(uint16_t alternative_experience); + void set_fan_speed(uint16_t fan_speed); + uint16_t get_fan_speed(); + void set_ir_pwr(uint16_t ir_pwr); + std::optional get_state(); + std::optional get_can_state(uint16_t can_number); + void set_loopback(bool loopback); + std::optional> get_firmware_version(); + bool up_to_date(); + std::optional get_serial(); + void set_power_saving(bool power_saving); + void enable_deepsleep(); + void send_heartbeat(bool engaged); + void set_can_speed_kbps(uint16_t bus, uint16_t speed); + void set_data_speed_kbps(uint16_t bus, uint16_t speed); + void set_canfd_non_iso(uint16_t bus, bool non_iso); + void can_send(capnp::List::Reader can_data_list); + bool can_receive(std::vector& out_vec); + void can_reset_communications(); + +protected: + // for unit tests + uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64]; + uint32_t receive_buffer_size = 0; + + Panda(uint32_t bus_offset) : bus_offset(bus_offset) {} + void pack_can_buffer(const capnp::List::Reader &can_data_list, + std::function write_func); + bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec); + uint8_t calculate_checksum(uint8_t *data, uint32_t len); +}; diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc new file mode 100644 index 0000000..e2c78ab --- /dev/null +++ b/selfdrive/boardd/panda_comms.cc @@ -0,0 +1,227 @@ +#include "selfdrive/boardd/panda.h" + +#include +#include +#include + +#include "common/swaglog.h" + +static libusb_context *init_usb_ctx() { + libusb_context *context = nullptr; + int err = libusb_init(&context); + if (err != 0) { + LOGE("libusb initialization error"); + return nullptr; + } + +#if LIBUSB_API_VERSION >= 0x01000106 + libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); +#else + libusb_set_debug(context, 3); +#endif + return context; +} + +PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { + // init libusb + ssize_t num_devices; + libusb_device **dev_list = NULL; + int err = 0; + ctx = init_usb_ctx(); + if (!ctx) { goto fail; } + + // connect by serial + num_devices = libusb_get_device_list(ctx, &dev_list); + if (num_devices < 0) { goto fail; } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device_descriptor desc; + libusb_get_device_descriptor(dev_list[i], &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + int ret = libusb_open(dev_list[i], &dev_handle); + if (dev_handle == NULL || ret < 0) { goto fail; } + + unsigned char desc_serial[26] = { 0 }; + ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + if (ret < 0) { goto fail; } + + hw_serial = std::string((char *)desc_serial, ret); + if (serial.empty() || serial == hw_serial) { + break; + } + libusb_close(dev_handle); + dev_handle = NULL; + } + } + if (dev_handle == NULL) goto fail; + libusb_free_device_list(dev_list, 1); + dev_list = nullptr; + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + libusb_detach_kernel_driver(dev_handle, 0); + } + + err = libusb_set_configuration(dev_handle, 1); + if (err != 0) { goto fail; } + + err = libusb_claim_interface(dev_handle, 0); + if (err != 0) { goto fail; } + + return; + +fail: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + cleanup(); + throw std::runtime_error("Error connecting to panda"); +} + +PandaUsbHandle::~PandaUsbHandle() { + std::lock_guard lk(hw_lock); + cleanup(); + connected = false; +} + +void PandaUsbHandle::cleanup() { + if (dev_handle) { + libusb_release_interface(dev_handle, 0); + libusb_close(dev_handle); + } + + if (ctx) { + libusb_exit(ctx); + } +} + +std::vector PandaUsbHandle::list() { + static std::unique_ptr context(init_usb_ctx(), libusb_exit); + // init libusb + ssize_t num_devices; + libusb_device **dev_list = NULL; + std::vector serials; + if (!context) { return serials; } + + num_devices = libusb_get_device_list(context.get(), &dev_list); + if (num_devices < 0) { + LOGE("libusb can't get device list"); + goto finish; + } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device *device = dev_list[i]; + libusb_device_descriptor desc; + libusb_get_device_descriptor(device, &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + libusb_device_handle *handle = NULL; + int ret = libusb_open(device, &handle); + if (ret < 0) { goto finish; } + + unsigned char desc_serial[26] = { 0 }; + ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + libusb_close(handle); + if (ret < 0) { goto finish; } + + serials.push_back(std::string((char *)desc_serial, ret).c_str()); + } + } + +finish: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + return serials; +} + +void PandaUsbHandle::handle_usb_issue(int err, const char func[]) { + LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); + if (err == LIBUSB_ERROR_NO_DEVICE) { + LOGE("lost connection"); + connected = false; + } + // TODO: check other errors, is simply retrying okay? +} + +int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(hw_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(hw_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(hw_lock); + do { + // Try sending can messages. If the receive buffer on the panda is full it will NAK + // and libusb will try again. After 5ms, it will time out. We will drop the messages. + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + LOGW("Transmit buffer full"); + break; + } else if (err != 0 || length != transferred) { + handle_usb_issue(err, __func__); + } + } while (err != 0 && connected); + + return transferred; +} + +int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(hw_lock); + + do { + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + break; // timeout is okay to exit, recv still happened + } else if (err == LIBUSB_ERROR_OVERFLOW) { + comms_healthy = false; + LOGE_100("overflow got 0x%x", transferred); + } else if (err != 0) { + handle_usb_issue(err, __func__); + } + + } while (err != 0 && connected); + + return transferred; +} diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h new file mode 100644 index 0000000..e61d254 --- /dev/null +++ b/selfdrive/boardd/panda_comms.h @@ -0,0 +1,82 @@ +#pragma once + +#include +#include +#include +#include +#include + +#ifndef __APPLE__ +#include +#endif + +#include + + +#define TIMEOUT 0 +#define SPI_BUF_SIZE 2048 + + +// comms base class +class PandaCommsHandle { +public: + PandaCommsHandle(std::string serial) {} + virtual ~PandaCommsHandle() {} + virtual void cleanup() = 0; + + std::string hw_serial; + std::atomic connected = true; + std::atomic comms_healthy = true; + static std::vector list(); + + // HW communication + virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0; + virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; + virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; + virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; +}; + +class PandaUsbHandle : public PandaCommsHandle { +public: + PandaUsbHandle(std::string serial); + ~PandaUsbHandle(); + int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); + int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); + int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + void cleanup(); + + static std::vector list(); + +private: + libusb_context *ctx = NULL; + libusb_device_handle *dev_handle = NULL; + std::recursive_mutex hw_lock; + void handle_usb_issue(int err, const char func[]); +}; + +#ifndef __APPLE__ +class PandaSpiHandle : public PandaCommsHandle { +public: + PandaSpiHandle(std::string serial); + ~PandaSpiHandle(); + int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); + int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); + int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + void cleanup(); + + static std::vector list(); + +private: + int spi_fd = -1; + uint8_t tx_buf[SPI_BUF_SIZE]; + uint8_t rx_buf[SPI_BUF_SIZE]; + inline static std::recursive_mutex hw_lock; + + int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length); + int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout); + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); + int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); +}; +#endif diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index a87613c..cf9938e 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -4,13 +4,12 @@ import os import usb1 import time import subprocess -from typing import List, NoReturn +from typing import NoReturn from functools import cmp_to_key from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE from openpilot.common.swaglog import cloudlog @@ -124,7 +123,7 @@ def main() -> NoReturn: cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") # Flash pandas - pandas: List[Panda] = [] + pandas: list[Panda] = [] for serial in panda_serials: pandas.append(flash_panda(serial)) @@ -154,10 +153,6 @@ def main() -> NoReturn: cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial()) if first_run: - if panda.is_internal(): - # update time from RTC - set_time(cloudlog) - # reset panda to ensure we're in a good state cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") if panda.is_internal(): diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py deleted file mode 100755 index fe17f64..0000000 --- a/selfdrive/boardd/set_time.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import os -import datetime -from panda import Panda - -from openpilot.common.time import MIN_DATE - -def set_time(logger): - sys_time = datetime.datetime.today() - if sys_time > MIN_DATE: - logger.info("System time valid") - return - - try: - ps = Panda.list() - if len(ps) == 0: - logger.error("Failed to set time, no pandas found") - return - - for s in ps: - with Panda(serial=s) as p: - if not p.is_internal(): - continue - - # Set system time from panda RTC time - panda_time = p.get_datetime() - if panda_time > MIN_DATE: - logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") - os.system(f"TZ=UTC date -s '{panda_time}'") - break - except Exception: - logger.exception("Failed to fetch time from panda") - -if __name__ == "__main__": - import logging - logging.basicConfig(level=logging.DEBUG) - - set_time(logging) diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc new file mode 100644 index 0000000..d11e955 --- /dev/null +++ b/selfdrive/boardd/spi.cc @@ -0,0 +1,377 @@ +#ifndef __APPLE__ +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "common/util.h" +#include "common/timing.h" +#include "common/swaglog.h" +#include "panda/board/comms_definitions.h" +#include "selfdrive/boardd/panda_comms.h" + + +#define SPI_SYNC 0x5AU +#define SPI_HACK 0x79U +#define SPI_DACK 0x85U +#define SPI_NACK 0x1FU +#define SPI_CHECKSUM_START 0xABU + + +enum SpiError { + NACK = -2, + ACK_TIMEOUT = -3, +}; + +struct __attribute__((packed)) spi_header { + uint8_t sync; + uint8_t endpoint; + uint16_t tx_len; + uint16_t max_rx_len; +}; + +const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds +const std::string SPI_DEVICE = "/dev/spidev0.0"; + +class LockEx { +public: + LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { + m.lock(); + flock(fd, LOCK_EX); + } + + ~LockEx() { + flock(fd, LOCK_UN); + m.unlock(); + } + +private: + int fd; + std::recursive_mutex &m; +}; + + +PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { + int ret; + const int uid_len = 12; + uint8_t uid[uid_len] = {0}; + + uint32_t spi_mode = SPI_MODE_0; + uint8_t spi_bits_per_word = 8; + + // 50MHz is the max of the 845. note that some older + // revs of the comma three may not support this speed + uint32_t spi_speed = 50000000; + + if (!util::file_exists(SPI_DEVICE)) { + goto fail; + } + + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); + if (spi_fd < 0) { + LOGE("failed opening SPI device %d", spi_fd); + goto fail; + } + + // SPI settings + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); + if (ret < 0) { + LOGE("failed setting SPI mode %d", ret); + goto fail; + } + + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + if (ret < 0) { + LOGE("failed setting SPI speed"); + goto fail; + } + + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); + if (ret < 0) { + LOGE("failed setting SPI bits per word"); + goto fail; + } + + // get hw UID/serial + ret = control_read(0xc3, 0, 0, uid, uid_len, 100); + if (ret == uid_len) { + std::stringstream stream; + for (int i = 0; i < uid_len; i++) { + stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); + } + hw_serial = stream.str(); + } else { + LOGD("failed to get serial %d", ret); + goto fail; + } + + if (!serial.empty() && (serial != hw_serial)) { + goto fail; + } + + return; + +fail: + cleanup(); + throw std::runtime_error("Error connecting to panda"); +} + +PandaSpiHandle::~PandaSpiHandle() { + std::lock_guard lk(hw_lock); + cleanup(); +} + +void PandaSpiHandle::cleanup() { + if (spi_fd != -1) { + close(spi_fd); + spi_fd = -1; + } +} + + + +int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = 0 + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout); +} + +int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = length + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout); +} + +int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return bulk_transfer(endpoint, data, length, NULL, 0, timeout); +} +int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return bulk_transfer(endpoint, NULL, 0, data, length, timeout); +} + +int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) { + const int xfer_size = SPI_BUF_SIZE - 0x40; + + int ret = 0; + uint16_t length = (tx_data != NULL) ? tx_len : rx_len; + for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) { + int d; + if (tx_data != NULL) { + int len = std::min(xfer_size, tx_len - (xfer_size * i)); + d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout); + } else { + uint16_t to_read = std::min(xfer_size, rx_len - ret); + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout); + } + + if (d < 0) { + LOGE("SPI: bulk transfer failed with %d", d); + comms_healthy = false; + return d; + } + + ret += d; + if ((rx_data != NULL) && d < xfer_size) { + break; + } + } + + return ret; +} + +std::vector PandaSpiHandle::list() { + try { + PandaSpiHandle sh(""); + return {sh.hw_serial}; + } catch (std::exception &e) { + // no panda on SPI + } + return {}; +} + +void add_checksum(uint8_t *data, int data_len) { + data[data_len] = SPI_CHECKSUM_START; + for (int i=0; i < data_len; i++) { + data[data_len] ^= data[i]; + } +} + +bool check_checksum(uint8_t *data, int data_len) { + uint8_t checksum = SPI_CHECKSUM_START; + for (uint16_t i = 0U; i < data_len; i++) { + checksum ^= data[i]; + } + return checksum == 0U; +} + + +int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { + int ret; + int nack_count = 0; + int timeout_count = 0; + bool timed_out = false; + double start_time = millis_since_boot(); + + do { + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout); + + if (ret < 0) { + timed_out = (timeout != 0) && (timeout_count > 5); + timeout_count += ret == SpiError::ACK_TIMEOUT; + + // give other threads a chance to run + std::this_thread::yield(); + + if (ret == SpiError::NACK) { + // prevent busy waiting while the panda is NACK'ing + // due to full TX buffers + nack_count += 1; + if (nack_count > 3) { + usleep(std::clamp(nack_count*10, 200, 2000)); + } + } + } + } while (ret < 0 && connected && !timed_out); + + if (ret < 0) { + LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); + } + + return ret; +} + +int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) { + double start_millis = millis_since_boot(); + if (timeout == 0) { + timeout = SPI_ACK_TIMEOUT; + } + timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf, + .len = length + }; + tx_buf[0] = tx; + + while (true) { + int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send ACK request"); + return ret; + } + + if (rx_buf[0] == ack) { + break; + } else if (rx_buf[0] == SPI_NACK) { + LOGD("SPI: got NACK"); + return SpiError::NACK; + } + + // handle timeout + if (millis_since_boot() - start_millis > timeout) { + LOGD("SPI: timed out waiting for ACK"); + return SpiError::ACK_TIMEOUT; + } + } + + return 0; +} + +int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { + int ret; + uint16_t rx_data_len; + LockEx lock(spi_fd, hw_lock); + + // needs to be less, since we need to have space for the checksum + assert(tx_len < SPI_BUF_SIZE); + assert(max_rx_len < SPI_BUF_SIZE); + + spi_header header = { + .sync = SPI_SYNC, + .endpoint = endpoint, + .tx_len = tx_len, + .max_rx_len = max_rx_len + }; + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf + }; + + // Send header + memcpy(tx_buf, &header, sizeof(header)); + add_checksum(tx_buf, sizeof(header)); + transfer.len = sizeof(header) + 1; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send header"); + goto transfer_fail; + } + + // Wait for (N)ACK + ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); + if (ret < 0) { + goto transfer_fail; + } + + // Send data + if (tx_data != NULL) { + memcpy(tx_buf, tx_data, tx_len); + } + add_checksum(tx_buf, tx_len); + transfer.len = tx_len + 1; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send data"); + goto transfer_fail; + } + + // Wait for (N)ACK + ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); + if (ret < 0) { + goto transfer_fail; + } + + // Read data + rx_data_len = *(uint16_t *)(rx_buf+1); + if (rx_data_len >= SPI_BUF_SIZE) { + LOGE("SPI: RX data len larger than buf size %d", rx_data_len); + goto transfer_fail; + } + + transfer.len = rx_data_len + 1; + transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to read rx data"); + goto transfer_fail; + } + if (!check_checksum(rx_buf, rx_data_len + 4)) { + LOGE("SPI: bad checksum"); + goto transfer_fail; + } + + if (rx_data != NULL) { + memcpy(rx_data, rx_buf + 3, rx_data_len); + } + + return rx_data_len; + +transfer_fail: + return ret; +} +#endif diff --git a/selfdrive/boardd/tests/__init__.py b/selfdrive/boardd/tests/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/boardd/tests/bootstub.panda.bin new file mode 100644 index 0000000..43db537 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda.bin differ diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/boardd/tests/bootstub.panda_h7.bin new file mode 100644 index 0000000..1d94450 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7.bin differ diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin new file mode 100644 index 0000000..5cf2fa4 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin differ diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc new file mode 100644 index 0000000..86476d0 --- /dev/null +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -0,0 +1,135 @@ +#define CATCH_CONFIG_MAIN +#define CATCH_CONFIG_ENABLE_BENCHMARKING + +#include "catch2/catch.hpp" +#include "cereal/messaging/messaging.h" +#include "common/util.h" +#include "selfdrive/boardd/panda.h" + +struct PandaTest : public Panda { + PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); + void test_can_send(); + void test_can_recv(uint32_t chunk_size = 0); + void test_chunked_can_recv(); + + std::map test_data; + int can_list_size = 0; + int total_pakets_size = 0; + MessageBuilder msg; + capnp::List::Reader can_data_list; +}; + +PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) { + this->hw_type = hw_type; + int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8); + // prepare test data + for (int i = 0; i < data_limit; ++i) { + std::random_device rd; + std::independent_bits_engine rbe(rd()); + + int data_len = dlc_to_len[i]; + std::string bytes(data_len, '\0'); + std::generate(bytes.begin(), bytes.end(), std::ref(rbe)); + test_data[data_len] = bytes; + } + + // generate can messages for this panda + auto can_list = msg.initEvent().initSendcan(can_list_size); + for (uint8_t i = 0; i < can_list_size; ++i) { + auto can = can_list[i]; + uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); + const std::string &dat = test_data[dlc_to_len[id]]; + can.setAddress(i); + can.setSrc(util::random_int(0, 3) + bus_offset); + can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); + total_pakets_size += sizeof(can_header) + dat.size(); + } + + can_data_list = can_list.asReader(); + INFO("test " << can_list_size << " packets, total size " << total_pakets_size); +} + +void PandaTest::test_can_send() { + std::vector unpacked_data; + this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) { + unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]); + }); + REQUIRE(unpacked_data.size() == total_pakets_size); + + int cnt = 0; + INFO("test can message integrity"); + for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) { + can_header header; + memcpy(&header, &unpacked_data[pos], sizeof(can_header)); + const uint8_t data_len = dlc_to_len[header.data_len_code]; + pckt_len = sizeof(can_header) + data_len; + + REQUIRE(header.addr == cnt); + REQUIRE(test_data.find(data_len) != test_data.end()); + const std::string &dat = test_data[data_len]; + REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0); + ++cnt; + } + REQUIRE(cnt == can_list_size); +} + +void PandaTest::test_can_recv(uint32_t rx_chunk_size) { + std::vector frames; + this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) { + if (rx_chunk_size == 0) { + REQUIRE(this->unpack_can_buffer(data, size, frames)); + } else { + this->receive_buffer_size = 0; + uint32_t pos = 0; + + while (pos < size) { + uint32_t chunk_size = std::min(rx_chunk_size, size - pos); + memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size); + this->receive_buffer_size += chunk_size; + pos += chunk_size; + + REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames)); + } + } + }); + + REQUIRE(frames.size() == can_list_size); + for (int i = 0; i < frames.size(); ++i) { + REQUIRE(frames[i].address == i); + REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end()); + const std::string &dat = test_data[frames[i].dat.size()]; + REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0); + } +} + +TEST_CASE("send/recv CAN 2.0 packets") { + auto bus_offset = GENERATE(0, 4); + auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); + PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS); + + SECTION("can_send") { + test.test_can_send(); + } + SECTION("can_receive") { + test.test_can_recv(); + } + SECTION("chunked_can_receive") { + test.test_can_recv(0x40); + } +} + +TEST_CASE("send/recv CAN FD packets") { + auto bus_offset = GENERATE(0, 4); + auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); + PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA); + + SECTION("can_send") { + test.test_can_send(); + } + SECTION("can_receive") { + test.test_can_recv(); + } + SECTION("chunked_can_receive") { + test.test_can_recv(0x40); + } +} diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100644 index 0000000..21cc0b5 --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 +import os +import pytest +import time +import unittest + +import cereal.messaging as messaging +from cereal import log +from openpilot.common.gpio import gpio_set, gpio_init +from panda import Panda, PandaDFU, PandaProtocolMismatch +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.tici.pins import GPIO + +HERE = os.path.dirname(os.path.realpath(__file__)) + + +@pytest.mark.tici +class TestPandad(unittest.TestCase): + + def setUp(self): + # ensure panda is up + if len(Panda.list()) == 0: + self._run_test(60) + + def tearDown(self): + managed_processes['pandad'].stop() + + def _run_test(self, timeout=30): + managed_processes['pandad'].start() + + sm = messaging.SubMaster(['peripheralState']) + for _ in range(timeout*10): + sm.update(100) + if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + break + + managed_processes['pandad'].stop() + + if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: + raise Exception("boardd failed to start") + + def _go_to_dfu(self): + HARDWARE.recover_internal_panda() + assert Panda.wait_for_dfu(None, 10) + + def _assert_no_panda(self): + assert not Panda.wait_for_dfu(None, 3) + assert not Panda.wait_for_panda(None, 3) + + def _flash_bootstub_and_test(self, fn, expect_mismatch=False): + self._go_to_dfu() + pd = PandaDFU(None) + if fn is None: + fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn) + with open(fn, "rb") as f: + pd.program_bootstub(f.read()) + pd.reset() + HARDWARE.reset_internal_panda() + + assert Panda.wait_for_panda(None, 10) + if expect_mismatch: + with self.assertRaises(PandaProtocolMismatch): + Panda() + else: + with Panda() as p: + assert p.bootstub + + self._run_test(45) + + def test_in_dfu(self): + HARDWARE.recover_internal_panda() + self._run_test(60) + + def test_in_bootstub(self): + with Panda() as p: + p.reset(enter_bootstub=True) + assert p.bootstub + self._run_test() + + def test_internal_panda_reset(self): + gpio_init(GPIO.STM_RST_N, True) + gpio_set(GPIO.STM_RST_N, 1) + time.sleep(0.5) + assert all(not Panda(s).is_internal() for s in Panda.list()) + self._run_test() + + assert any(Panda(s).is_internal() for s in Panda.list()) + + def test_best_case_startup_time(self): + # run once so we're setup + self._run_test(60) + + # should be fast this time + self._run_test(8) + + def test_protocol_version_check(self): + if HARDWARE.get_device_type() == 'tici': + raise unittest.SkipTest("SPI test") + # flash old fw + fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") + self._flash_bootstub_and_test(fn, expect_mismatch=True) + + def test_release_to_devel_bootstub(self): + self._flash_bootstub_and_test(None) + + def test_recover_from_bad_bootstub(self): + self._go_to_dfu() + with PandaDFU(None) as pd: + pd.program_bootstub(b"\x00"*1024) + pd.reset() + HARDWARE.reset_internal_panda() + self._assert_no_panda() + + self._run_test(60) + + +if __name__ == "__main__": + unittest.main()